adept technology MV - Page 140

Sample SPEC File
AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A 141
0, 0
.DATA 163 ;Joint speed at SPEED 100 (deg/sec or mm/sec)
1200, 1200, 600
.DATA 165 ;Joint accel at ACCEL 100 (deg/sec^2 or mm/sec^2)
16000, 16000, 16000
.DATA 164 ;Cartesian trans./rot. speed at SPEED 100 (mm/sec or deg/s)
1200
.DATA 166 ;Cartesian trans./rot. accel at ACCEL 100 (mm/sec^2 or deg/sec^2)
16000
.DATA 167 ;Acceleration ramp times (sec)
-1, 0.1, 0.1, 0.1, 0.1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
. . . . . . . . . . . . . . . . . . . . . . 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0
.DATA 168 ;Max acceleration (%)
140
.DATA 173 ;Max deceleration (%)
140
.DATA 169 ;Max program speed (%)
140
.DATA 170 ;Max rate of change in Mtr speed (%/sec)
50
.DATA 171 ;Startup S-curve profile
0
.DATA 172 ;Startup % accel and % decel
50, 50
.DATA 174 ;SCALE.ACCEL speed limit (%)
1E+16
; BACKLASH AND LINEAR COMPENSATION
; STOP-ON-FORCE SPECIFICATIONS
.DATA 1027 ;Stop-on-force integrator gain
0, 0, 0
.END
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