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8-20 Chapter 8 Robot Language Lists
3
ACCEL
Specifies/acquires the acceleration coefficient parameter
Format
1. ACCEL [robot number] expression
2. ACCEL [robot number] (axis number)=expression
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
axis number
...........................1 to 6
expression
..............................1 to 100 (units: %)
Explanation
Changes the acceleration coefficient parameter of the robot axis specified by the
<
robot number>
to the value specified by the <
expression>
.
In format 1, the change occurs at all axes specified with a specified robot.
In format 2, the change occurs at the axis specified in <
axis number>
.
Functions
Format
ACCEL [robot number] (axis number)
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
axis number
...........................1 to 6
Explanation
The acceleration coefficient parameter value is acquired for the axis specified by the
<
axis number>
among the robot axes specified by the <
robot number>
.
SAMPLE
A=50
ACCEL A
The acceleration coefficient of all axes of robot 1 becomes 50%.
ACCEL(3)=100 ···················· Only axis 3 of robot 1 becomes 100%.
’CYCLE WITH INCREASING ACCELERATION
FOR A=10 TO 100 STEP 10 ········· The acceleration coefficient parameter
is increased from 10% to 100% in 10%
increments.
ACCEL A
MOVE P,P0
MOVE P,P1
NEXT A
A=ACCEL(3) The acceleration coefficient parameter of axis 3 of robot 1 is
assigned to variable A.
HALT "END TEST"
Содержание SCARA YRCX Series
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