RAPID reference manual - Technology

PathAccLimRobotWare-OSInstructionArgumentsPathAccLimAccLimAccLim [\AccMax] DecelLim [\DecelMax]Data type: boolTRUE if there is to be a limitation of the acceleration, FALSE otherwise.[ \AccMax ] Data type: numThe absolute value of the acceleration limitation inAccLim is TRUE.m e s 2. Only to be used whenDecelLimData type: boolTRUE if there is to be a limitation of the deceleration, FALSE otherwise.[ \DecelMax ] Data type: numThe absolute value of the deceleration limitation inDecelLim is TRUE.m e s 2. Only to be used whenProgram executionThe acceleration/deceleration limitations applies for the next executed robot segmentand is valid until a new PathAccLim instruction is executed.The maximum acceleration/deceleration (PathAccLim FALSE, FALSE) are automaticallyset- at a cold start-up- when a new program is loaded- when starting program executing from the beginning.If combination of instruction AccSet and PathAccLim, the system reduce the acceleration/decelerationin following order- according AccSet- according PathAccLim324 RAPID reference manual - part 1a, Instructions A-R