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19.2.1.4 Motion parameters
Name
Description
VEL
Speed
CNT
Smoothing factor
CNT_TYPE
Smoothing type
ACC
Speedup ratio
DEC
Reduction ratio
A [target point] Optional Properties
Exxample
：
J P[1] VEL =100
A P[2] VEL =500
A P[3] VEL =500
A P[4]
A P[5]
L P[6]
The sentence above means (see the figure below), when the first circular motion A command
(line 2) is executed, the robot motion mode is linear motion, that is, the robot move from current
point P[1] to the target point P[2] through linear motion, from P[2] to P[3] through circular arc
motion, from P[3] to P[4] through circular arc movement, from P[4] to P[5] through circular arc
movement, from P[5] to P [6] through linear movement.