MC-Basic:robot.DECELERATIONTRANS

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Defines the translation deceleration of the robot. Together with DROT, defines the decleration of a Cartesian motion. This value is used only in two motion commands: MOVES and CIRCLE. In joint interpolated movements (MOVE), this value is ignored. The group must be defined with a robot model (model !=1). The value cannot be greater than DECLERATIONMAXTRANS. The system always takes the smaller of the two with a notification message sent to the user.

Short form

<ROBOT>.dtran

Syntax

<ROBOT>.dtran=<numeric expression>

Type

double

Range

0.1-maxdouble

Units

mm/sec²

Default

1e5

Scope

Configuration, Task, Terminal

Limitations

Read/Write, Modal/Nodal

Examples

dtran = 6000

See Also

• CIRCLE
• MOVES