Smooth Transition

Description

When switching between safety modes during events (i.e., Reduced Mode Input, Reduced Mode Trigger Planes, Safeguard Stops, and Three-Position Enabling Device), the Robot Arm aims to use 0.4s to create a "soft" transition. Existing applications have unchanged behavior which corresponds to the "hard" setting. New installation files default to the "soft" setting.

 
To Adjust Transition

  1. In the Header, tap Installation.

  2. In the menu on the left, under Motion, select Smooth Transition.

  3. Select Hard to have a higher acceleration/deceleration
    or select Soft for the smoother default transition setting.