# Using command speedl() on joystick

**URL:** <https://forum.universal-robots.com/t/using-command-speedl-on-joystick/5326>\
**Category:** Technical Questions\
**Tags:** urscript\
**Created:** [October 15, 2019, 6:05am UTC](https://forum.universal-robots.com/t/using-command-speedl-on-joystick/5326 "2019-10-15T06:05:50Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![anon15593451](https://avatars.discourse-cdn.com/v4/letter/a/94ad74/32.png) [@anon15593451](https://forum.universal-robots.com/u/anon15593451)\
**Post date:** [October 15, 2019, 6:05am UTC](https://forum.universal-robots.com/t/using-command-speedl-on-joystick/5326/1 "2019-10-15T06:05:51Z")

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Hello, I am trying to connect UR5e with 3D joystick. The continuous movement is made with the help of speedl() and speedtool(). But i am facing issues with these commands.

robo.speedl([-0.0, 0.0327301025391, 0, -0.0, 0.09999694824220001, 0] ,0.1, 1) {Spatial vector, speed, time}

When I execute this command, error pops in the teach pendant stating Type error: speedl() got an unexpected keyword argument ‘tmin’.

What is the right way to use speedl() command and other ways of accomplishing this task

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**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [October 15, 2019, 9:43am UTC](https://forum.universal-robots.com/t/using-command-speedl-on-joystick/5326/2 "2019-10-15T09:43:02Z")

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Is it the script command “speedl” you are using?

In that case the documentation looks like this:  
 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/6/62045d2033703b419747917d1cc6d476b8b1b531.png)

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<div class="post-metadata">

**Author:** ![anon15593451](https://avatars.discourse-cdn.com/v4/letter/a/94ad74/32.png) [@anon15593451](https://forum.universal-robots.com/u/anon15593451)\
**Post date:** [October 15, 2019, 11:23am UTC](https://forum.universal-robots.com/t/using-command-speedl-on-joystick/5326/3 "2019-10-15T11:23:27Z")

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Sorry. It was a problem with URX package. I recitifed it.  
Is there any other function like speedl for TCP movement

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**Author:** ![Savoia](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/savoia/32/4844_2.png) [@Savoia](https://forum.universal-robots.com/u/Savoia)\
**Post date:** [January 27, 2021, 2:34am UTC](https://forum.universal-robots.com/t/using-command-speedl-on-joystick/5326/4 "2021-01-27T02:34:17Z")

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Closed on January 27, 2021, 2:34am UTC