How to use ACC option to modify deceleration only?

  • One of my robots is placing a part on top of a rod, but its a long rod, it only needs to be careful towards the end of the movement, how can I use the ACC option to make it decelerate slower and overtime? I tried using ACC10 and it works, but it also accelerates slower.

    6:L P[11:Inside rod] R[81:Medium mm/sec]mm/sec FINE ACC10

    Same goes for the opposite, how can I make it accelerate slower, but keep the deceleration to the default one?

  • You could break it up into 2 movements on the same path. On the first moment use higher acc and CNT100. On the second motion use lower acc and fine.

    Then do the reverse for the opposite situation.

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