A way to tell moveL separate Acceleration and Deceleration?

Technical Questions URScript
1

Hey there,

is there a known way to seperate the acceleration and deceleration for a linear movement to a given point?

Best case is I can defice acc like the a in moveL and the dec for stopping slowly when near the target point.

Thanks in advance

2

I’m not aware of a way to do this in a single command, but if you can separate the movement into two commands then you can use a different value for each. The key here will be to set a blend radius on the first command so that the robot knows that it is not supposed to come to a stop between the two movements. Depending on the speed you are moving, you might need to use MoveP instead of MoveL, as it seems to work better.
So you would change

movel(target)

to

movel(intermediate, a=accel, r=0.01)
movel(target, a=decel)

where intermediate is a location (almost) anywhere along the movement path. By setting r in the first command, you are telling the robot to blend the two movements without stopping in between, so it should look like a single motion.