V+ 12.4 Release Notes

Arm Power Off % Deceleration (Robot Option Bit 12)

The operation performed by enabling robot option bit 12 was enhanced in V+ version 12.2. Previously, if this bit was turned on, the trajectory generator would decelerate the robot rather than bring it to an immediate stop when a program generated motion was interrupted by an error that caused arm power to be disabled. This feature was added for robot systems that delayed the disable signal to the amplifiers to allow time for the brakes to engage. However, for some robots, the combination of the deceleration due to the brakes and the trajectory generator deceleration might over-stress the drive trains of a robot.

To address this problem, this parameter was added in SPEC version 12.2:

175:  Special arm power off decel (%) 

When robot option bit 12 is set, this value specifies the percentage of maximum deceleration to be used when an error causes a trajectory to be interrupted and arm power to be disabled. If this value is 0 (the default), the operation of bit 12 is unchanged from previous versions of V+.