RAPID reference manual - Technology

AccSetRobotWare-OSInstructionAccelerationAccelerationTimeAccSet 100, 100, i.e. normal accelerationAccelerationTimeTimeAccSet 30, 100AccSet 100, 30Figure 1 Reducing the acceleration results in smoother movements.Program executionThe acceleration applies to both the robot and external axes until a new AccSet instructionis executed.The default values (100%) are automatically set- at a cold start-up- when a new program is loaded- when starting program executing from the beginning.SyntaxAccSet[ Acc ’:=’ ] < expression (IN) of num > ’,’ [ Ramp ’:=’ ] < expression (IN) of num > ’;’Related informationDescribed in:Positioning instructionsRAPID Summary - Motion2 RAPID reference manual - part 1a, Instructions A-R