SCALE.ACCEL.ROT system switch SCALE.ACCEL.ROT system switch Syntax ... SCALE.ACCEL.ROT [robot_num] Function Specify whether or not the SCALE.ACCEL switch takes into account the Cartesian rotational speed during straight-line motions. 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 If SCALE.ACCEL.ROT is enabled for a selected robot, the lesser of the Cartesian linear and rotational speeds is used to scale acceleration and deceleration during straight-line motions. If SCALE.ACCEL.ROT is disabled for a selected robot, only the Cartesian linear speed is considered when SCALE.ACCEL is in effect. The SCALE.ACCEL.ROT switch is enabled for all robots by default when the eV+ system is initialized. Example Cause SCALE.ACCEL not to use Cartesian rotational speed for robot #2:
DISABLE SCALE.ACCEL.ROT[2] Related Keywords ACCEL program instruction ACCEL real-valued function SCALE.ACCEL system switch SPEED monitor command SPEED program instruction eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 455