RAPID reference manual - Technology

InstructionPathAccLimRobotWare-OSPathAccLim - Reduce TCP acceleration along the pathPathAccLim (Path Acceleration Limitation) is used to set or reset limitations on TCPacceleration and/or TCP deceleration along the movement path.The limitation will be performed along the movement path, i.e the acceleration in thepath frame. It is the tangential acceleration/deceleration in the path direction that willbe limited.The instruction does not limit the total acceleration of the equipment, i.e. the accelerationin world frame, so it can not be directly used to protect the equipment from largeaccelerations.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.PROGRAMMED PATHvROBOT TCP WITH LINACC LIMITATIONROBOT TCPtExamplePathAccLim TRUE \AccMax := 4, TRUE \AccMin := 4;TCP acceleration and TCP deceleration is limited to 4 m e s 2 .PathAccLim FALSE, FALSE;The TCP acceleration and deceleration is reset to maximum (default).RAPID reference manual - part 1a, Instructions A-R 323