AccuracyValue as variable over entire robot program

Robot Programming
1

I’m currently learning robot programming in VC and have a question about how to set variables for AccuracyValue for the entire robot program.

As an example, I have a robot with multiple subprograms doing some pick and place operations. By default, all movement statements get AccuracyMethod = Distance and AccuracyValue = 0.

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In real robot programs, there would be a few variables, such as z0, z10, z50, z200 (I’m used to calling them zones from working with ABB robots), but point is:

  1. You set a large radius for the fly-through points, z200 or z50 for smoother movements
  2. Smaller radius for approach points, z10
  3. And no radius for destinations for precision

How to create these variables in VC for a robot, so that I could set the value once and use the variables in movement statements? (I mean create them not for subprograms, but to be used across subprograms, for the whole robot logic).

Also: what is the difference between setting AccuracyMethod to distance, time, velocity?

Thanks!