IAI PSEL, Operation Manual

Page: 786 / 1062

[1
1] Actuator
Control
Declaration
292
z
VELS (Dedicated SCARA command/Set speed ratio)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional VELS Ratio Prohibited CP
Applicable models
XSEL
-J/K
XSEL
-P/Q/
PCT/QCT
XSEL
-R/S
XSEL
-JX/KX
XSEL
-PX/QX
XSEL
-RX/SX/
RXD/SXD
ASEL
PSEL
SSEL
TT/TTA MSEL
× × ×
{ { {
× ×
{
(PCX/PGX
only)
[Function] Set in operand 1 the moving speed for SCARA PTP operation command (angular
speed for all axes other than Z) as a ratio of the maximum PTP speed. Operand 1
must be set with an integer (unit: %).
(Note 1) If a RIGH or LEFT command is used, the speed must be set with VELS even
when a SCARA PTP operation command is not used.
[Example 1] VELS 50 Set the moving speed for PTP operation command
to 50% of the maximum value.
MOVP 1 Move to position No. 1 via PTP at 50% of the
maximum speed.