GERTY Solution

🌐 KR

Description

  • This component defines the PathAccLim Instruction, which reduces the TCP’s movement speed. It limits the robot’s acceleration (AccLim) or deceleration (DecelLim) to reach the Target Point position.

Input

  • RobTargets : Receives data from RobTargets.

Built-in Param | Basic Params

  • AccLim [Boolean] : Asks whether acceleration is enabled. Default is False.  
  • DecelLim [Boolean] : Asks whether deceleration is enabled. Default is False.  
  • AccMax(m/s2) : Inputs the maximum acceleration value. 
  • DecelMax(m/s2) : Inputs the maximum deceleration value.

Output

  • Instructions : Outputs the defined PathAccLim Instructions based on the entered Input.


Example

Here is an example of using the PathAccLim component:

Example 1

  • PathAccLim TRUE \AccMax := 4, TRUE \DecelMax := 4; TCP acceleration and TCP deceleration are limited to 4 m/s2.

Example 2

  • PathAccLim FALSE, FALSE; The TCP acceleration and deceleration is reset to maximum (default).