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Set Jerk Limit

Set Jerk Limit

Owned by Comala Publishing
Jan 09, 2025
1 min read

This command can adjust the jerk limit used by all motion commands except streaming and trajectory. X & Y axis share the same jerk limit. Editing the jerk limit of one of these axes will also update the jerk limit for the other.

Fieldbus Interface

PMC_SetJerkLimit

Name

Data Type

Description

Name

Data Type

Description

Execute

BOOL

XbotID

USINT

AxisID

USINT

JerkLimit

REAL

Jerk limit (m/s^3 or rad/s^3)

PM_Controller

PMControllerType

Name

Data Type

Description

Name

Data Type

Description

Done

BOOL

Busy

BOOL

Aborted

BOOL

Error

BOOL

ErrorID

UINT

Ethernet Interface 

PMCRTN SetJerkLimit(int xbotID, JERKLIMAXIS axis, double jerkLim)

Name

Type

Description

Name

Type

Description

xbotID

int

axis

enum

jerkLim

double

Jerk limit (m/s^3 or rad/s^3)

Name

Type

Description

Name

Type

Description

PMCRTN

PMCRTN enum

Conditions

Operating Conditions

Operating Conditions

Preconditions

None

Postconditions

New XBot motion jerk limit will be used in future commands

Description

This command can adjust the jerk limit used by all motion commands except streaming and trajectory.

X & Y axis share the same jerk limit. Editing the jerk limit of one of these axes will also update the jerk limit for the other.

 

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