RealAccel Function
Returns the Accel value adjusted by OLAccel.
Syntax
RealAccel(paramNumber)
Parameters
- paramNumber
- Specify each of the following values as integers:
- 1: acceleration specification value
- 2: deceleration specification value
- 3: depart acceleration specification value for Jump
- 4: depart deceleration specification value for Jump
- 5: approach acceleration specification value for Jump
- 6: approach deceleration specification value for Jump
Return Values
Integer 1% or more
Usage
By using RealAccel, the maximum acceleration speed with which the robot can operate continuously can be acquired.
Steps are as follows:
- Operate the robot with the OLAccel command On.
- Execute the OLRate command and check if the overload ratio rises.
- If the overload ratio rises, auto adjustment begins when the overload ratio exceeds 0.5.
- After a certain period of time has passed, execute the OLRate command and check that the overload ratio does not rise.
- After checking that the overload ratio does not rises, execute the RealAccel function.
- The value returned by the RealAccel function is the maximum acceleration speed that the robot can operate continuously in the step 1.
- If the RealAccel function is executed while the overload ratio is rising, maximum acceleration speed of continuous motion cannot be acquired.
- If the overheat error occurs, maximum acceleration speed of continuous motion cannot be acquired by the above procedure.
See Also
Accel, OLAccel, OLRate
RealAccel Function Example
Following is the example of the RealAccel function used in the program.
Integer RealAccel1, RealDecel1
Accel 100, 100
OLAccel on
'Acquire the current acceleration speed.
RealAccel1 = RealAccel (1)
RealDecel1 = RealAccel (2)
Display the current acceleration speed
Print RealAccel1
Display the current deceleration speed
Print RealDecel1