For joint interpolated program controlled motions, these parameters specify the maximum speed that each joint will be commanded to achieve when the robot is instructed to move at its nominal, 100% speed setting. For rapid motions with light payloads, the programmer might specify a speed greater than 100%. For fine motions or for heavy payloads, a speed setting of 50% or less is often specified. These parameters are in units of millimeters/second or degrees/second.

For Cartesian interpolated program controlled motions, these parameters specify the maximum speed for each of the primary Cartesian dimensions when the robot is instructed to move at its nominal, 100% speed setting. The first parameter always dictates the speed along the straight line Cartesian path from the starting position to the final position of the motion. The second and following parameters are a function of the specific kinematic module. Normally, the second and third parameters dictate rotations about some Cartesian coordinates. For rapid motions with light payloads, the programmer might specify a speed greater than 100%. For fine motions or for heavy payloads, a speed setting of 50% or less is often specified. These parameters are in units of millimeters/second or degrees/second.

For joint interpolated program controlled motions, these parameters specify the maximum acceleration and deceleration that each joint will be commanded to achieve when the robot is instructed to move at its nominal, 100% acceleration and deceleration settings. These parameters are in units of millimeters/second^2 or degrees/second^2.

For Cartesian interpolated program controlled motions, these parameters specify the maximum acceleration and deceleration for each of the primary Cartesian dimensions when the robot is instructed to move at its nominal, 100% acceleration and deceleration settings. Please see the description for the "100% Cartesian speeds" for an explanation of the elements in this parameter array. These parameters are in units of millimeters/second^2 or degrees/second^2.

This parameter limits the % speed that can be specified for a given motion. In some cases, this parameter should be set to 100%. However, for many robots, higher than the nominal speed can be utilized for certain motions and for light payloads. Therefore, a limit of greater than 100% is often specified.

This parameter limits the % acceleration that can be specified for a given motion. As with the "Max % speed allowed" (DataID 2704), this parameter is often set to greater than 100%.

This parameter limits the % deceleration that can be specified for a given motion. As with the "Max % speed allowed" (DataID 2704), this parameter is often set to greater than 100%.

This is a convenience parameter that automatically modifies a motion's % acceleration, % deceleration, and s-curve ramp times based on the motion % speed. If this parameter is 0, all of these specifications operate independently. If this parameter is non-zero, as the % speed is scaled up or down, the other coupled parameters are automatically scaled up or down accordingly for each motion. This is beneficial because as a motion is slowed down, it is expected that lower accelerations / decelerations will also be applied to produce a smoother motion. If this parameter is non-zero, it is interpreted as the maximum speed scaling that will be applied to the other parameters. For example, if this parameter is set to 200%, then motion speed settings of 200% and above will double the acceleration, deceleration, and s-curve ramp times. If the motion speed is then reduced to 50%, the acceleration, deceleration and s-curve ramp times will be cut in half.

Normally, this parameter is set to 100% or above or 0% to disable this feature.  Settings less than 100% are valid but might produce confusing results since for speeds greater than the setting of this parameter, the % acceleration, % deceleration, and s-curve ramp times will be scaled down by the value of DataID 2707.

When a Profile object or MotionBlock is first created, its % speed is initially set to this default value. This default applies to joint interpolated motions as well as the linear speed for Cartesian interpolated motion.

This is the default value for the Speed2 property.  When a Profile object or MotionBlock is first created, its % speed is initially set to this value.  Speed2 only applies to Cartesian interpolated motions and generally is used to explicitly control the Cartesian rotation speed if non-zero.  If Speed2 is zero for a Cartesian motion and for all joint-interpolated motions, the Speed property solely governs the timing of the motion.

This is the default % acceleration parameter that is interpreted in the same manner as the "Default % speed" (DataID 2708).

This is the default % deceleration parameter that is interpreted in the same manner as the "Default % speed" (DataID 2708).

This is the default s-curve acceleration ramp time parameter (in seconds) that is interpreted in the same manner as the "Default % speed" (DataID 2708).

This is the default s-curve deceleration ramp time parameter (in seconds) that is interpreted in the same manner as the "Default % speed" (DataID 2708).

These parameters can automatically increase the accel/decel ramp times for motions that begin or end with axes in critical positions. For example, if links are more unstable when they are fully extended, these parameters can ensure that motion accel/decel ramp times are longer than a minimum value when motions start or end with the links in the extended position.

This feature is enabled for each axis by setting the "Min ramp time interpolation range" non-zero. If a motion starts with the specified axis at a position between "Min ramp time mid-pos" +/- "Min ramp time interpolation range" a minimum accel ramp time is computed by interpolating between the "Default max accel ramp time" (DataID 2712) and "Min ramp time mid-pos value". If the accel ramp time specified for the motion is less than the computed minimum, it is set equal to the computed minimum. Likewise, if a motion ends within the specified region, the motion's decel ramp time is forced to be at least as long as the computed minimum value.

For example, if the "mid-pos" is set to 0 degrees with the "range" set to 90 degrees, with the "Default max accel ramp time" set to 0.1 seconds and the "mid-pos value" set to 0.25 seconds, if the axis starts at 10 (or 350) degrees, the motion's accel ramp time is set to 0.23 seconds if it is shorter than this value.