Assigning Speed and Acceleration

You can set the maximum values for speed and acceleration for all joints in a selected device, as well as the maximum TCP speed and acceleration allowed when the device is in motion.

  1. From the Motion Controller section of the action bar, select Speed and acceleration limits .
  2. Select a device to display the Maximum Speed/Acceleration dialog box.

    Note that if the device does not have inverse kinematics defined (via the Update Resource with Inverse Kinematics command), you will be able to set the maximum speed, acceleration and acceleration time for the joints but not for the TCP. In this scenario, the Maximum Speed/Acceleration dialog box will appear without the TCP frame.

  3. Edit the speed, acceleration and acceleration time values of the commands and TCP as needed.
  4. Click OK or Apply to apply the changes to the device.
    Important: The units displayed for the speed and acceleration values are determined by the Me > Preferences > General > Parameters and Measure settings of the session.