AccelS Method

Description
Sets acceleration and deceleration for linear interpolar (straight line) motion commands Jump3CP, Move, TMove.

Syntax
Sub AccelS (Accel As Single, Decel As Single,[JumpDepartAccel As Single], [JumpDepartDecel As Single], _[JumpApproAccel As Single], [JumpApproDecel As Single])

Parameters

• Accel
  A real number (units: mm/s2) that specifies the acceleration for linear or CP motion. If Decel is omitted, this value is applied for both the acceleration and deceleration rates.
• Decel
  Optional. A real number (units: mm/sec2) that specifies the deceleration for linear or CP motion.
• JumpDepartAccel
  Optional. A real number (units: mm/sec2) that specifies the depart acceleration for depart operation for Jump or Jump3CP.
• JumpDepartDecel
  Optional. A real number (units: mm/sec2) that specifies the depart deceleration for depart operation for Jump or Jump3CP.
• JumpApproAccel
  Optional. A real number (units: mm/sec2) that specifies the approach acceleration for approach operation for Jump or Jump3CP.
• JumpApproDecel
  Optional. A real number (units: mm/sec2) that specifies the approach deceleration for approach operation for Jump or Jump3CP.

Remarks
If an error occurs and the ErrorNumber property of the SpelException is 3101, see the remarks in the SetPoint method.

See Also
Accel Method, SpeedS Method, SetPoint Method, Jump3CP Method, Move Method, TMove Method

AccelS Example
VB Example:

Sub MoveToPlace()  
    m_spel.Base(P1)  
    m_spel.Move(pick)  
    m_spel.AccelS(500, 300)  
    m_spel.Move(place)  
End Sub  

C# Example:

void MoveToPlace()  
{  
    m_spel.AccelS(500);  
    m_spel.Move(pick);  
    m_spel.AccelS(500, 300);  
    m_spel.Move(place);  
}