how to linearly increase robot speed

Robot Controller
1

Hello to all. Could you please tell me is it possible to increase speed of robot motion without creating new “Move” program lines, to have linear increase of speed in one motion between two points. Thanks in advance.

2

Try limiting the acceleration, you can use WorldAccLim, PathAccLim or AccSet. See the RAPID Reference manual for details.

3

Hi
You could use the SpeedRefresh instruction.
Best regards.

4

Thanks to both of you for your suggestions.