SCALE.ACCEL system switch SCALE.ACCEL system switch Syntax ... SCALE.ACCEL [robot_num] Function Enable or disable the scaling of acceleration and deceleration as a function of program speed, as long as the program speed is below a preset threshold. Parameter robot_num Optional real value, variable, or expression (interpreted as an integer) that indicates the number of the robot affected. If the index is omitted or zero in an ENABLE or DISABLE command or instruction, the settings for all robots are altered. Otherwise, only the setting for the specified robot is affected. Details This switch is enabled when the eV+ system is initialized.
If robot_num is omitted or zero in an ENABLE or DISABLE command or instruction, the settings for all robots are altered. Otherwise, only the setting for the specified robot is affected. If robot_num is omitted or zero when the switch is accessed with the SWITCH real- valued function, the setting of the switch for robot #1 is returned. When this switch is enabled and the program speed is below the preset threshold value, the effective acceleration and deceleration for that robot are calculated as follows:
effective acceleration = program_speed * acceleration_setting effective deceleration = program_speed * deceleration_setting where acceleration_setting and deceleration_setting are values set by the ACCEL instruction. For example, if program speed 50% is specified and the threshold value is 150, the effective acceleration and deceleration are 50% of the current settings. If the program speed is higher than 150% with the threshold set to 150, the current acceleration and deceleration are used without modification.
All robot modules have the SCALE.ACCEL speed threshold set by default to a very large value, effectively forcing the scaling of accelerations and deceleration for all speeds when this switch is enabled. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 453