IAI PSEL, Operation Manual

Page: 794 / 1062

[1
1] Actuator
Control
Declaration
300
z
SCRV (Set sigmoid motion ratio) • • • 3/3
Command,declaration Extension
Condition
(LD, A, O, AB, OB)
Input condition
(I/O flag)
Command,
declaration
Operand1 Operand2
Output
(Output,flag)
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional SCRV Ratio
(S-motion
type)
CP
Applicable models
(Refer to the previous two pages for the models marked with × in the table below.)
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
×
{
× × × × ×
{ {
[Function] Set the ratio of sigmoid motion control of the actuator in the value specified in
operand1.
The ratio is set as integer in a range from 0 to 50(%)
If the ratio is not set using this command or 0% is set,a trapezoid motion will be
implemented.
XSEL-P/Q/PCT/QCT are available to select operand2.(S-shaped type).
(Main application Ver.1.25 and later)
Operand 2 can be inputted from IA-T-X(D):Ver.1.52 or subsequent ones after
teaching box SEL-T(D):Ver.1.12 after PC software:Ver.7.7.12.0.
Model
Name
Setting in Operand 2
(S-shaped Type)
S-shaped Motion
Class
S-shaped Motion
Effective Command
Group
(See the table below)
Not set, 0 A 1)
1 B 1)
2 A
2)
(Note 2)
XSEL
-P/Q
3 B 2)
(Note 2)
Not set, 0 1)
1 1)
2 2)
(Note 2)
XSEL
-PCT/
QCT
3
B
(Note 1)
2)
(Note 2)
Note 1 The class of S-shaped motion is compulsorily B.
Note 2 S-shaped Motion is effective also at the speed change point (position joint point)
during PATH Command. If S-shaped Motion is activated, constant velocity or
track could be lost. Use the unit with S-shaped Motion ineffective in such
processes as applying paint or glue, in which the constant velocity and track are
important.
Effective Command Group SCRV Effective Command
1)
MOVP, MOVL, MVPI, MVLI, JBWF, JBWN,
JFWF, JFWN
2)
MOVP, MOVL, MVPI, MVLI, JBWF, JBWN,
JFWF, JFWN, PATH, ARCH, PACH