ROBOT.OPR program instruction eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 443 Robot Modul- e function _ code exp1, exp2,...exp- n Description position- offset values that are added to the commande- d Z and RZ positions for each slave axis exp2 (Optional) RZ offset for first slaved axes. exp3 (Optional) Z offset for second slaved axes. exp4 (Optional) RZ offset for second slaved axes. exp5 (Optional) Z offset for third slaved axes. exp6 (Optional) RZ offset for third slaved axes. NOTE: The offsets for the fourth set of slaved axes cannot be set. DLT (modul- e ID 27) For this robot, this instruction sets the Cartesian acceleration parameters to one of three sets of values.
The purpose of this operation is to adjust the dynamic performance of the robot depending upon the payload being carried. NOTE: When utilizing ROBOT.OPR to change the acceleration values, the robot must be attached and stopped when this instruction is executed, to ensure no adverse interactions with any current motion execution.