RAPID reference manual - Technology

InstructionPathAccLimRobotWare-OSExamplep2p2’p3p1MoveL p1, v1000, fine, tool0;PathAccLim TRUE\AccMax := 4, FALSE;MoveL p2, v1000, z30, tool0;MoveL p3, v1000, fine, tool0;PathAccLim FALSE, FALSE;TCP acceleration is limited to 4 m e s 2 between p1 and p3.MoveL p1, v1000, fine, tool0;MoveL p2, v1000, z30, tool0;PathAccLim TRUE\AccMax :=3, TRUE\DecelMax := 4;MoveL p3, v1000, fine, tool0;PathAccLim FALSE, FALSE;TCP acceleration is limited to 3 m e s 2 between p2’ and p3TCP deceleration is limited to 4 m e s 2 between p2’ and p3LimitationsThe minimum acceleration/deceleration allowed is 0.5 m e s 2 .Error handlingIf the parameters AccMax or DecelMax is set to a value too low, the system variableERRNO is set to ERR_ACC_TOO_LOW. This error can then be handled in the errorhandler.SyntaxPathAccLim[ AccLim ’:=’ ] < expression (IN) of bool > [‘\’AccMax ’:=’ ]’,’[DecelLim ’:=’ ] < expression (IN) of bool>[‘\’DecelMax ‘:=’ ]’;’RAPID reference manual - part 1a, Instructions A-R 325