Okura Yusoki A Series Manual page 96

Acl and dcl time:
The "Acl and dcl time" is used to determine the acc-dec time for standard robot
movement, (Units: m sec). When 0 is input as an acc-dec coefficient in step
parameters this time is used to help generate robot motion.
6.1.2. Setting up Communication method
Select the "Communication method" command from menu bar-[Registration] -
[System parameter] - [communication]. Communication method dialog box will
display. Setup or select the each content. These setups are communication for using
by robot, not for OXPA-QmII.
Purpose:
These communications parameters determine the method of high level
communication (Centro communication) between the robot controller and the PLC. If
robot does not communicate with any device, select the "None" for this field.
Communication speed, bit length, Parity and Stop bit:
All settings are as same as communicate device with robot. If settings are different
robot can not communicate with other device.
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