Basic Characteristics RAPID

RAPID Summary Motion Settings
4.3 Defining acceleration
When fragile parts, for example, are handled, the acceleration can be reduced for part
of the program.
Instruction Used to define:
AccSet The maximum acceleration
4.4 Defining configuration management
The robot’s configuration is normally checked during motion. If joint (axis-by-axis)
motion is used, the correct configuration will be achieved. If linear or circular motion
are used, the robot will always move towards the closest configuration, but a check is
performed to see if it is the same as the programmed one. It is possible to change this,
however.
Instruction Used to define:
ConfJ Configuration control on/off during joint motion
ConfL Configuration check on/off during linear motion
4.5 Defining the payload
To achieve the best robot performance, the correct payload must be defined.
Instruction Used to define:
GripLoad The payload of the gripper
4.6 Defining the behaviour near singular points
The robot can be programmed to avoid singular points by changing the tool orientation
automatically.
Instruction Used to define:
SingArea The interpolation method through singular points
RAPID Reference Manual 3-11