How send Articular velocities with PC SDK?

ale_001

Hi all,

Problem Alternative 1
Trying to resolve a big problem I've, how to move a 6DGL Robot?, i would like to know if it's possible send a velocity for each articulation axis of the Robot(q1, q2, q3, q4, q5, q6 in mm/s), and all these articulations motion must move at the same time.

Problem Alternative 2
Other option I've, if it's possible to give velocities in X,Y,Z an rotation velocities Rx, Ry, Rz at the end of the Robot.

I was looking for this Rapid Instructions:
IndCMove;
IndRMove;

(For the last problem alternatives, can i use those instructions without a position?. Because i don't know an exactly target)

Both options are using servoing control algorithms or Jacobians to get mathematically the velocities.

PD: I am trying to do a visual servoing with RobotStudio, the algorithms i use gave me velocities at the end of the Robot for traslation and orientation, or I can have velocities for each articulation. but this velocities are in close loop so  are updated continuously.
Problems I do not have a distance in mm for X,Y,Z, dont have and exactly final point but can know when stop the movement so I know when stop giving velocities.

How can I do that if its possible using PC SDK programming in C#.