Sets and gets the peak motion acceleration defined as the percentage of the nominal acceleration.
profile_object.Accel =<new_value>
-or-
...profile_object.Accel
Prerequisites
Takes effect when the profile_object is passed as a parameter to a Move Class method and the specified motion segment is generated.
Parameters
None
Remarks
When generating a motion segment, the Accel property defines the peak acceleration that the motion can achieve. An Accel value of 100 corresponds to the nominal (100%) acceleration for the specified type of motion. The Accel value can range from 1.0 up to a maximum value permitted for the robot. For a Straight-line motion, the acceleration is computed along the path and about the Cartesian rotational angles defined by the robot’s kinematic module. For joint motions, the acceleration percentage is applied to the joint angles.
The acceleration that the robot actually achieves for a given motion may be different than the Accel value for a number of reasons: if an AccelRamp (s-curve profile) value is specified, the motion may not be long enough to ramp up to the specified acceleration; the Accel value may be limited by the maximum permitted Accel value; or the Accel value may be automatically scaled if the Parameter Database “Couple %accel/%decel to %speed” parameter is set. The Parameter DB value is a convenience feature that automatically scales the specified Accel and Decel values with the Speed so that slow motions have gentler accelerations and decelerations and fast motions accelerate and decelerate as quickly as possible.
When a New Profile is created, its properties are automatically set to the default values specified in the controller’s Configuration Database. Therefore, the Accel parameter only needs to be set if you wish to deviate from the default value.
Examples
Dim prof1 As New Profile ' Create new profile set to default values
prof1.Accel = 50 ' Only accelerate at 50% of nominal rate
Move.Loc (loc1, prof1) ' Perform motion to previously defined
' location, loc1 with performance “prof1”
See Also
Profile Class | profile_object.AccelRamp | profile_object.Decel | profile_object.DecelRamp