ACCEL
(Statement)
Designates internal acceleration and internal deceleration.
ACCEL <Acceleration> [,<Deceleration>]
The <AccelerationRatio> or <DecelerationRatio> should be the target ratio (%) of the maximum internal composite acceleration or deceleration of joints in a currently held arm group, respectively. 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 acceleration/deceleration may differ from the specification. If 0 or less is specified, an error will result.
The actual acceleration/deceleration values are (external × internal / 100).
If the speed is changed, the acceleration/deceleration values are automatically changed to a value expressed by (SPEED2 / 100).
Example: If you write ACCEL 50, the JACCEL 50 (same value as ACCEL) will be set automatically:
JACCEL 25 (JSPEED*JSPEED / 100)
JDECEL 25 (JSPEED*JSPEED / 100)
If you write ACCEL without getting any arm group beforehand, an error will result.
Ex1
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DEFINT li1, li2
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ACCEL 100
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'Sets the acceleration to 100.
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ACCEL 50, 25
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'Sets the acceleration to 50 and
'the deceleration to 25.
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ACCEL li1/100, li2/100
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'Sets the acceleration to (li1/100) and
'the deceleration to (li2/100).
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Ex2
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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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ACCEL 100
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'Specify composite acceleration ratio of joints
'(7th and 8th) involved in Arm Group 1.
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END
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