ROBOT.OPR program instruction eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 444 Robot Modul- e function _ code exp1, exp2,...exp- n Description 0 sets the Cartesian acceleratio- n parameters to one of three sets of values. exp1 Number of the set of Cartesian acceleration parameters to utilize (1-3). The parameters are intended to be used as follows: Parameter Set Intended Number Payload 1 0-1 kg 2 1-3 kg 3 3-5 kg Quattro 650 Robot1 For this robot, this instruction sets the Cartesian acceleration parameters to one of two 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. 0 (must be set to 0) exp1 Number of the set of Cartesian acceleration parameters to utilize (1 or 2). (Parameter set #1 is applied when the eV+ system is booted from disk.) Parameter Set Number Intended Payload 1 0-1 kg 2 1-3 kg 3 3-5 kg