Setting the Speed, Acceleration, and Deceleration

The motion speed of arm is determined by internal speed and external speed.

The internal speed is the speed determined by the commands in the program.

External speed is the speed to be set using Remote TP/Virtual TP for teaching or test run, and the unit is expressed in percentage (%) of the maximum speed (internal speed).

Note on Speed Setting

1. The initial value of the external speed is 1% when power is turned on.
2. Once the external speed is set, it is valid until the COBOTTA is turned off or the setting is updated.
3. Actual arm moves at [internal speed x external speed (%)] . For example, if the external speed is set at 80%, the arm moves at internal speed x 80%.
4. When speed is set, acceleration and deceleration will be automatically calculated by the following equation.
   Acceleration (%) = ((Speed) / 100)² x 100
   Deceleration (%) = ((Speed) / 100)² x 100
   (Calculation example) Assuming that speed is 20% :
   Acceleration (Deceleration) = (20 / 100)² x 100 = 4%
   These automatically calculated values can be modified using Remote TP/Virtual TP. In that case, the latest modified value will be valid.