ACCEL program instruction ACCEL program instruction Syntax ACCEL (profile) acceleration, deceleration Function Set acceleration and deceleration for robot motions. Optionally, specify a defined acceleration profile. Usage Considerations The ACCEL instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task. The instruction applies to the robot selected by the task. If the eV+ system is not configured to control a robot, executing the ACCEL instruction causes the error *Robot not attached to this program*.
Before an acceleration/deceleration profile can be used, it must be defined for the selected robot (profile 0 is always defined). (The robot configuration is edited using the ACE software, see the ACE User's Guide .) Parameters profile Optional integer specifying the acceleration profile to use. Acceptable values are 0 to 8 (depending on the number of defined profiles). The default is the last specified profile (see Details for the number of the start-up profile). If a profile is specified that has not been defined, profile 0 is used. acceleration Optional real value, variable, or expression considered as a percentage of the maximum possible acceleration.
deceleration Optional real value, variable, or expression considered as a percentage of the maximum possible deceleration. The value should normally be in the range of 1 to 100 (upper limits greater than 100 may be established by the robot manufacturer). If an out-of-range value is specified, the nearest extreme value will be used. If a parameter is omitted, its current setting remains in effect. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 49