Universal Robots Forum

Reduced Mode with a script move command

How to reduce speed of a script command movej when safety reduced mode is initiated?

Hi All,

We are using the below script command within a program to turn J5 + or - 90/180 degrees.

b:=get_joint_positions() // returns actual angular positions for each joint in radians
b[5]=b[5]+d2r(90) // set joint 5 position + 90 degrees (d2r to convert from degrees to radians)
movej(b, a=190, v=500) // initiate rotate (acceleration = 190 rad/s^2, velocity = rad/s)

We have noticed that reduced mode has no impact on this move.

Anyone have experience with similar or a better way to reach the same out come but compatible with reduced mode?

Thanks

Hi nflanne,

Reduced mode limits will overrule all movement speeds both in Polyscope and in script so I expect the lack of impact comes down to how you have configured your safety system. If you’ve just set a linear TCP speed limit under the general limits tab, it’s likely that rotating the final joint will not cause the TCP to exceed this speed limit especially if the x and y TCP offsets are close to zero.

If you set a maximum speed for J5 under the joint limits tab less than the velocity you are moving it at, then you should see it take effect.

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