4MELFA-BASIC IV
Detailed explanation of command words 4-154
[Explanation]
(1) The maximum acceleration/deceleration is determined according to the robot being used. Set the corre-
sponding percentage(%). The system default value is 100,100.
(2) The acceleration percentage changed with this command is reset to the system default value when the
program is reset or the End statement executed.
(3) Although it is possible to describe the acceleration/deceleration time to more than 100%, some models
internally set its upper limit to 100%. If the acceleration/deceleration time is set to more than 100%, it
may affect the lifespan of the machine. In addition, speed-over errors and overload errors may tend to
occur. Therefore, be extra careful when you are setting it to more than 100%.
(4) The smooth operation when Cnt is valid will have a different locus according to the acceleration speed or
operation speed. To move smoothly at a constant speed, set the acceleration and deceleration to the
same value. Cnt is invalid in the default state.
(5) It is also valid during optimum acceleration/deceleration control (Oadl On).
[Related instructions]
Oadl (Optimal Acceleration), Loadset (Load Set)
[Related system variables]
M_Acl/M_DAcl/M_NAcl/M_NDAcl/M_AclSts, M_SetAdl
[Related parameter]
JADL
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