© Stäubli 2009 – D28070504A CS8C152 / 248
6.13. MOTION DESCRIPTOR EDITOR
When editing a motion descriptor in the application manager, a simplified view is displayed where only speed and
blending type can be modified. The ">>" menu gives access to the advanced interface where all motion descriptor
parameters can be modified.
A change in the velocity parameter of the simplified interface modifies both the joint velocity and joint
acceleration/deceleration, so that the arm behavior remains harmonious. The accel and decel parameters should
indeed be roughly the square of the vel parameter. For instance, a velocity of 120% = 1.2 is best adapted with
accel and decel of 1.2 x 1.2 = 1.44 = 144%. Higher values for accel and decel give a more aggressive, but shakier
arm behaviour.
When the accel and decel parameters are modified in the advanced interface, this relation with the velocity
parameter may not be effective any more. In that case, when the simplified interface is displayed with the "<<"
menu, the speed parameter is displayed as "User". It can still be edited to recover the default relation between
joint velocity and acceleration/deceleration.
6.14. CONTROLLER BACKUP
A complete system backup on network (to a Ftp server) or on USB can be done from the Control Panel utility
('Bkup' menu on the Controller configuration node).
The backup takes several minutes, its duration depends on the number of user application files.
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