4-4
The program shown in Fig. 4-3 sets internal acceleration and deceleration.
If you execute this program at 80% external speed, the following results occur.
PROGRAM PRO1
TAKEARM
ACCEL 50 ' Internal acceleration: 50%
DECEL 25 ' Internal deceleration: 25%
MOVE P, P1
END
Actual speed = Internal speed x internal speed
Actual speed = 80% x 100%
Actual speed = 80%
Actual acceleration = external acceleration x internal
acceleration
Actual acceleration = 64% x 50%
Actual acceleration = 32%
Actual deceleration = external deceleration x internal
deceleration
Actual deceleration = 64% x 25%
Actual deceleration = 16%
Fig. 4-3 Example of Settings for Internal Acceleration and Deceleration
Caution: When you set acceleration and deceleration, check that
there is no danger of collision due to pass changes.
If you change the speed or acceleration using a motion
option or with a command during a pass motion, be aware
of the possibility of a collision.
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