JACCEL
(Statement)
Specifies the internal acceleration and deceleration of individual joints included in a currently held arm group.
JACCEL <Axis acceleration> [,<Axis deceleration>]
This statement designates the maximum internal axis acceleration/deceleration rates (%) to <Axis acceleration>/<Axis deceleration> in a range from 0.0001 to 100.
If less than 0.0001 is specified, no error will occur, but the actual acceleration/deceleration may differ from the specification. If 0 or less is specified, an error will result.
The actual axis acceleration/deceleration values are (external × internal / 100).
If the axis speed is changed, the axis acceleration/deceleration values are automatically changed to a value expressed by (JSPEED2 / 100).
If you write JACCEL without getting any arm group beforehand, an error will result.
Ex1
|
DEFINT li1, li2
|
|
|
JACCEL 100
|
'Sets the axis acceleration to 100.
|
|
JACCEL 50, 25
|
'Sets the axis acceleration to 50 and the axis
'deceleration to 25.
|
|
JACCEL li1/100, li2/100
|
'Sets the axis acceleration to the value of (li1/100)
'and the axis deceleration to that of (li2/100).
|
Ex2
|
PROGRAM PRO1
|
|
|
TAKEARM 1
|
'Get Arm Group 1 (involving 7th and 8th joints).
|
|
JACCEL 100
|
'Specify acceleration ratio of joints (7th and 8th)
'involved in Arm Group 1.
|
|
END
|
|