SCALE.ACCEL system switch CAUTION: For program speeds over 100%, if the default setting for the SCALE.ACCEL limit is used and SCALE.ACCEL is enabled, the robot is driven at much higher rates of acceleration and deceleration, as compared to V+ 11.0. If the SCALE.ACCEL switch is disabled for a robot, accelerations and decelerations are not scaled based on the program speed. In this case, accelerations and decelerations are higher than normal at reduced speeds. This is particularly noticeable at very slow speeds. As a result, robot motions may appear to be more rough or jerky. Example Turn off acceleration scaling for robot #2:
DISABLE SCALE.ACCEL[2] Related Keywords ACCEL program instruction ACCEL real-valued function SPEED monitor command SPEED program instruction SCALE.ACCEL.ROT system switch eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 454