Sets and gets the peak motion deceleration defined as the percentage of the nominal deceleration.
profile_object.Decel =<new_value>
-or-
...profile_object.Decel
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 Decel property defines the peak deceleration that the motion can achieve. An Decel value of 100 corresponds to the nominal (100%) deceleration for the specified type of motion. The Decel value can range from 1.0 up to a maximum value permitted for the robot. For a Straight-line motion, the Deceleration is computed along the path and about the Cartesian rotational angles defined by the robot’s kinematic module. For joint motions, the deceleration percentage is applied to the joint angles.
The deceleration that the robot actually achieves for a given motion may be different than the Decel value for a number of reasons: if an DecelRamp (s-curve profile) value is specified, the motion may not be long enough to ramp up to the specified deceleration; the Decel value may be limited by the maximum permitted Decel value; or the Decel 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 Decel 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.Decel = 25 ' Only decelerate at 25% of nominal rate
Move.Loc (loc1, prof1) ' Perform motion to previously defined
' location, loc1 with performance “prof1”
See Also
Profile Class | profile_object.Accel | profile_object.AccelRamp | profile_object.DecelRamp