IAI PSEL, Operation Manual

Page: 539 / 1062

1. Preparation in
Advance
45
(2) PTP operation
1) Movement path
Each axis moves to the target position at the specified speed. The path of the tip of
movement cannot be specified by a command.
(Example)
Position No. 1
MOVP 1
Move from the current position to position No. 1 via
PTP operation.
The arm system may change during movement depending on the operation area and arm
system control command.
PTP operation commands: MOVP MVPI TMPI PACH PMVP ARCH
For details on these commands, refer to “Explanation of Each Command”
2) Setting of speed and acceleration/deceleration for PTP operation
In PTP operation, the speed and acceleration/deceleration are set beforehand in the
program using a control declaration command.
Speed setting command “VELS”, unit [% (percentage relative to the maximum PTP speed
(SCARA axis) set in axis-parameter No. 28)]
Acceleration setting command “ACCS”, unit [% (percentage relative to the maximum PTP
acceleration for SCARA axis set in axis-parameter No. 134)]
Deceleration setting command “DCLS”, unit [% (percentage relative to the maximum PTP
deceleration for SCARA axis set in axis-parameter No. 135)]
(Example)
ACCS 50 Set the acceleration for PTP operation to 50% of the
maximum PTP acceleration.
DCLS 50 Set the deceleration for PTP operation to 50% of the
maximum PTP deceleration.
VELS 50 Set the speed for PTP operation to 50% of the maximum PTP
speed.
MOVP 2 Move to position 2 via PTP operation.
3) Note on PTP operation
The arm system may change during an operation depending on the operation area, arm
system control command or position data arm system.
Refer to “[4] Arm System”.