I am using my ABB irb 6400r s4c as a CNC machining robot and i want to change the acceleration for different parts of the program. As My robot is on a track there are some unwanted oscillations occurring in certain machining operations. Currently i am using AccSet to change it in the main routine. iv read in the manual that this will only work in the main routine so i cant use it within a sub routine.
Is there any other way to do what I want?
