# How to do a very slow acceleration?

**URL:** <https://tech-community.robotics.abb.com/t/how-to-do-a-very-slow-acceleration/7832>\
**Category:** RAPID Programming\
**Created:** [July 26, 2017, 12:12pm UTC](https://tech-community.robotics.abb.com/t/how-to-do-a-very-slow-acceleration/7832 "2017-07-26T12:12:22Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Mads\_Alber](https://avatars.discourse-cdn.com/v4/letter/m/e56c9b/32.png) [@Mads\_Alber](https://tech-community.robotics.abb.com/u/Mads_Alber)\
**Post date:** [July 26, 2017, 12:12pm UTC](https://tech-community.robotics.abb.com/t/how-to-do-a-very-slow-acceleration/7832/1 "2017-07-26T12:12:22Z")

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I am working on a task where I would like VERY slow acceleration for the robot movement. The reason for this is that I have a saw mounted on an IRB6700, and I would like a smooth speed ramp when the saw inters the material. I see that there are some RAPID functions to reduce the acceleration, but as far as I can tell I cannot go any lower than 0.1m/s^2. This is probably still 10-20 times faster than what i would actually like. Is there any way to around this?

Thanks in advance.

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**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [July 28, 2017, 2:03pm UTC](https://tech-community.robotics.abb.com/t/how-to-do-a-very-slow-acceleration/7832/2 "2017-07-28T14:03:56Z")

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Make your own speeddata that is as slow as you want it to start and keep bumping those up, Maybe use a variable and refresh it to be faster and faster. I suppose you mean AccSet is the instruction you have looked at already.

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**Author:** ![Mads\_Alber](https://avatars.discourse-cdn.com/v4/letter/m/e56c9b/32.png) [@Mads\_Alber](https://tech-community.robotics.abb.com/u/Mads_Alber)\
**Post date:** [July 31, 2017, 8:05am UTC](https://tech-community.robotics.abb.com/t/how-to-do-a-very-slow-acceleration/7832/3 "2017-07-31T08:05:31Z")

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Thanks for the reply. I thought of that as an option, but obviously it is less than ideal. I think my solution for now will be slowly ramping the speed using speedrefresh and timed interrupts, similar to your proposal.  
Yes, AccSet is the one i’ve been looking at as well as PathAccLim.