Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
62
Adjusting Robot Parameters
When your robot system is delivered, the robot parameter file contains
recommended parameter settings. It is unlikely that you will need to
change any parameters. However, your specific use may suggest that you
use a faster or slower operational speed, or you may want to change the
ramp value to provide a smoother S curve.
To change robot parameters, such as speed or acceleration, send the
command to set the new value in Terminal Mode. Then save the new
value in NVSRAM by sending the SAV command.
The commands for changing the robot parameters are summarized in the
following table. For more information on each command, refer to the
Equipe Software Manual.
Parameter Command
to read
Command
to set
Home acceleration (.01 in / sec
2
)
Note that RAD returns home
acceleration only if homing is in
progress. Otherwise, RAD returns
operational acceleration
RAD None
Operational acceleration RAD SAD
Operational speed RSP SSP
Operational deceleration RDL SDL
Servo error limit RER ER
Positive software limit switch RPSL SPSL
Negative software limit switch RNSL SNSL
Ramp slope RRM RM
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