Accel VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Sets the point to point acceleration and deceleration for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Accel	Integer value for point to point acceleration.
Decel	Integer value for point to point acceleration.
Depart Accel	Optional. Integer value for Jump depart acceleration.
Depart Decel	Optional. Integer value for Jump depart deceleration.
Appro Accel	Optional. Integer value for Jump approach acceleration.
Appro Decel	Optional. Integer value for Jump approach deceleration.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
Use Accel to set the point to point acceleration and deceleration values for the current robot. All values can be from 1 to 100%. If Depart Accel is specified, then the remaining inputs must also be specified.

Usually, the maximum value is 100. However, some robots allow setting larger than 100. In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and vibration when positioning. However, you may require an operation with high acceleration to shorten the cycle time by decreasing the vibration at positioning. In this case, set the Accel to larger than 100. Except in some operation conditions, the cycle time may not change by setting Accel to larger than 100.

See Also
AccelS VI, Speed VI, SpeedS VI

Accel Example