Send Joint Configuration

Command the UR cobot using the RTDE interface to move to a specified joint configuration

Since R2025a

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Libraries:
Robotics System Toolbox Support Package for Universal Robots UR Series Manipulators / UR RTDE Blocks

Description

The Send Joint Configuration block commands the UR cobot using the RTDE interface to move to a specified joint configuration for completing a trajectory. The block also allows you to specify additional constraints like end time, velocity or acceleration to complete the motion; else, it uses default values for these constraints.

The block sends the commands either in blocking mode or in non-blocking mode. In blocking mode, the model blocks the execution while it waits for the motion to complete. In non-blocking mode, the model runs continuously.

Ports

Input

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Joint configuration (in radians) to complete the trajectory, specified as a 1-by-6 vector, where N is the dimension of the trajectory.

Data Types: double

Enable the block and activate the motion of cobot based on joint waypoints. Set the port to one of these values:

  • 1 – Enable the block to accept q input and execute the motion

  • 0 – Disable the block and ignore q input

Data Types: Boolean

Parameters

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Specify the IP address of UR Controller corresponding to the UR Series cobot to which you are establishing the connection.

Wait until the motion of cobot is completed based on the previous joint configuration sent to the cobot. When this parameter is selected, the send operation runs in blocking mode (it suspends all the other MATLAB tasks from running until the cobot's motion is completed). When you clear this parameter, the send operation runs in the non-blocking mode.

Mode of control for the trapezoidal motion of the cobot based on the specified joint configuration.

Enable additional input port End Time to specify the end time to complete the motion. Selecting this parameter disables the option to manually enter the end time value using the End Time to complete the motion parameter.

Dependencies

This parameter appears only if you select Time-Based Control for the Mode of control parameter.

End time (in seconds) to complete the cobot's motion based on the specified joint configuration, specified as a numeric scalar.

Dependencies

This parameter appears only if the Enable End Time input port parameter is not selected.

Enable additional input port for providing the acceleration value. Selecting this parameter disables the option to manually enter the acceleration value using the Acceleration to control speed profile parameter.

Dependencies

This parameter appears only if you select Acceleration and Velocity based Control for Mode of Control.

Enable additional input port for providing the velocity value. Selecting this parameter disables the option to manually enter the velocity value using the Velocity to control speed profile parameter.

Dependencies

This parameter appears only if you select Acceleration and Velocity based Control for Mode of Control.

Acceleration (in rad/s²) to control speed profile of the trajectory, specified as a numeric scalar.

Dependencies

This parameter appears only if the Enable Acceleration input port parameter is not selected.

Velocity (in rad/s) to control speed profile of the trajectory, specified as a numeric scalar.

Dependencies

This parameter appears only if the Enable Velocity input port parameter is not selected.

Version History

Introduced in R2025a