MC-Basic:robot.ACCELERATIONTRANS

Defines the translation acceleration of the robot. Together with AROT, defines the acceleration of a Cartesina 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 robot.ACCELERATIONMAXTRANS. The system always takes the smaller of the two with a notification message sent to the user.

Short form

<ROBOT>.atran

Syntax

<ROBOT>.atran=<numeric expression>

Type

Double

Range

0.1 to Maxdouble

Units

mm/sec²

Default

1e5

Scope

Configuration, Task, Terminal

Examples

atran = 6000

See Also

• robot.ACCELERATIONMAXTRANS
• CIRCLE
• MOVES