RAPID reference manual - Technology

InstructionAccSetRobotWare-OSAccSet - Reduces the accelerationAccSet is used when handling fragile loads. It allows slower acceleration and deceleration,which results in smoother robot movements.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.ExamplesAccSet 50, 100;The acceleration is limited to 50% of the normal value.AccSet 100, 50;The acceleration ramp is limited to 50% of the normal value.ArgumentsAccSetAcc RampAccData type: numAcceleration and deceleration as a percentage of the normal values. 100% corresponds to maximum acceleration. Maximum value: 100%.Input value < 20% gives 20% of maximum acceleration.RampData type: numThe rate at which acceleration and deceleration increases as a percentage of thenormal values (see Figure 1). Jerking can be restricted by reducing this value. 100% corresponds to maximum rate. Maximum value: 100%.Input value < 10% gives 10% of maximum rate.RAPID reference manual - part 1a, Instructions A-R 1