IAI PSEL, Operation Manual

Page: 791 / 1062

[1
1] Actuator
Control
Declaration
297
z
DCLS (Dedicated SCARA command/Set deceleration 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 DCLS 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
u u u
{ { {
u u
{
(PCX/PGX
only)
[Function] Set in operand 1 the deceleration for movement by SCARA PTP operation
command (angular deceleration for all axes other than Z) as a ratio of the
maximum PTP deceleration. Operand 1 must be set with an integer (unit: %).
(Note 1) For the deceleration ratio setting, make sure to refer to “Caution for Use” in
Vertical Articulated Robot IX Series Instruction Manual provided separately.
[Example] DCLS 50 Set the acceleration for movement by PTP
operation command to 50% of the maximum value.