Robot Acceleration Switching in Short Time Frame

nikhilncd

Hi

I am working on ABB IRB 140.

For my application I need to accelerate the robot with 9500 mm/sec^2 for 0.1 sec and then with 12000 mm/sec^2 for next 0.1 sec and then decelerate it with 19500 mm/sec^2 for next 0.1 sec.

Initial velocity = 0 mm/sec

Final velocity after 0.3 seconds = approx 0 mm/sec

(Note: Acceleration values that I have mentioned are not exact but close to actual values)

Can I switch between these accelerations in that short time frame?

Which commands should I use in RAPID?

Thanks

Nikhil

Henrik Berlin

See http://forums.robotstudio.com/forum_posts.asp?TID=7588