What happens when changing motion type between MOVJ and MOVL?

When changing the motion type between MOVJ (joint movement) and MOVL (linear movement), the speed is adjusted to an approximate equivalent speed. This is because the motion types handle the robot's movement differently. MOVJ is designed to move the robot's joints to specified angles in a smooth and coordinated manner, often allowing for faster speeds since the robot does not have to follow a straight-line trajectory. In contrast, MOVL requires the end effector to move in a straight line to the specified point, which can sometimes necessitate a reduction in speed to ensure precision and safety during the transition between joint paths.

Thus, when switching from one motion type to the other, the system calculates a speed that will allow safe and effective execution of the new movement path, transitioning smoothly between different types of control. This adjustment helps maintain optimal performance without requiring manual speed configuration by the operator.