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2. SPEED / ACCELERATION / DECELERATION
The robots speed is set as a percentage of max speed. If you set
the speed to 100 this will be the fastest the robot can move.
Typical speed for jogging is between 10% and 25%. The
acceleration and deceleration settings each have 2 parameters: a
duration and a percentage. The duration is the percentage of the
move you want the robot to accelerate or decelerate through,
for example if you have a move that is 100mm long and you want
the robot to quickly accelerate for only the first 5mm (or 5% of
the move) you could set the Dur setting to 5 and then if you
wanted the robot to come to a more gradual stop over the last
25mm (or 25% of the move) you could set the deceleration
duration setting to 25. The second value which is percentage is a
measure of amplitude, for example if you set the "speed %"
setting to 10% it will accelerate or decelerate within 10% of
whatever the speed setting is. For example, if your overall speed
is 25% and your deceleration is 10% the robot will decelerate
from 25% down to 2.5%. The Speed, Acc and Dec setting apply
both to jogging and are applied to any positions you teach.
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