DECEL
(Statement)
Specifies the internal composite deceleration of joints involved in a currently held arm group.
DECEL <Deceleration>
The <DecelerationRatio> should be the target ratio (%) of the maximum internal composite deceleration of joints in a currently held arm group. The entry range is from 0.0001 to 100 of a real number.
If less than 0.0001 is specified, no error will occur, but the actual deceleration may differ from the specification. If 0 or less is specified, an error will result.
The actual deceleration value is (external × internal / 100).
If the speed is changed, the deceleration value is automatically changed to a value expressed by (SPEED2 / 100).
Example: If you write DECEL 50, the JDECEL 50 (same value as DECEL) will be set automatically:
If you write DECEL without getting any arm group beforehand, an error will result.
Ex1
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DIM li1 As Integer
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DECEL 100
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'Sets the deceleration to 100.
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DECEL li1/100
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'Sets the deceleration to the value of (li1/100).
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Ex2(extended-joint)
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PROGRAM PRO1
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TAKEARM 1
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'Get Arm Group 1 involving 7th and 8th joints.
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DECEL 100
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'Specify deceleration ratio of joints (7th and 8th)
'in Arm Group 1.
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END
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