SCALE.ACCEL.ROT system switch

V+ Language Reference Guide, v17.x

SCALE.ACCEL.ROT system switch

Syntax

... SCALE.ACCEL.ROT [robot_num]

Function

Specify whether or not the SCALE.ACCEL switch takes into account the Cartesian rotational speed during straight-line motions.

Parameter

robot_num Optional real value, variable, or expression (interpreted as an integer) that indicates the number of the robot affected. If the index is omitted or zero in an ENABLE or DISABLE command or instruction, the settings for all robots are altered. Otherwise, only the setting for the specified robot is affected.

Details

If SCALE.ACCEL.ROT is enabled for a selected robot, the lesser of the Cartesian linear and rotational speeds is used to scale acceleration and deceleration during straight-line motions. If SCALE.ACCEL.ROT is disabled for a selected robot, only the Cartesian linear speed is considered when SCALE.ACCEL is in effect. The SCALE.ACCEL.ROT switch is enabled for all robots by default when the V+ system is initialized.

Example

Cause SCALE.ACCEL not to use Cartesian rotational speed for robot #2:
DISABLE SCALE.ACCEL.ROT[2]
Related Keywords

ACCEL program instruction

ACCEL real-valued function

SCALE.ACCEL system switch

SPEED monitor command

SPEED program instruction