ACCEL real-valued function
Syntax
ACCEL (select)
Function
Return the current setting for robot
acceleration or deceleration setting or return the maximum allowable
percentage limits defined in the robot configuration profile. (The robot configuration is edited using the SPEC utility, see Instructions for
Adept Utility Programs.)
Usage Considerations
The ACCEL function returns information for
the robot selected by the task executing the function.
If the V+ system is not configured to
control a robot, use of the ACCEL function does not generate an error due to
the absence of a robot. However, the information returned by the function may
not be meaningful.
Parameter
| select
|
Real-valued expression, the
result of which is rounded to an integer to select the value that is
returned. |
| select |
Value returned
|
| 0 |
Number of selected acceleration profile |
| 1 |
Acceleration
|
| 2 |
Deceleration
|
| 3 |
Maximum allowable percentage acceleration |
| 4 |
Maximum allowable percentage deceleration |
| 5 |
Program speed below which acceleration and deceleration are scaled
proportional to a program's speed setting when the
SCALE.ACCEL
system switch is enabled |
Examples
ACCEL(1) ;Return the current acceleration setting.
ACCEL(2) ;Return the current deceleration setting.
Related Keywords
ACCEL program instruction
SCALE.ACCEL system switch
SELECT real-valued function
SELECT program instruction
