IAI R-unit RSEL, Instruction Manual, Page: 452 / 844

Chapter 7 6-axis Cartesian Robot
7.2 Caution When Using Orthogonal Coordinate System Features
7-13
ME0392-4C
7.2.3 PTP operation
● Driving Tracks
Each axis drives to the target position with the indicated velocity. The track during the drive
cannot be specified with command languages.
(Example)
● Velocity and Acceleration/Deceleration Settings in PTP Operation
The velocity and acceleration/deceleration settings of the PTP operation should be
established in advance in a program with control declaration commands.
• Velocity Setting Command “VEL” in unit [mm/s]
• Acceleration Setting Command “ACC” in unit [G]
• Deceleration Setting Command “DCL” in unit [G]
(Example)
ACC 0.5 The acceleration in PTP operation is set at 0.5G.
DCL 0.5 The deceleration in PTP operation is set at 0.5G.
VEL 500 The velocity in PTP operation is set at 500 mm/s.
MOVP 2 Makes a drive in PTP operation to Position No. 2.
The velocity and acceleration/deceleration settings are also available to be established in the
“VEL”, “ACC” and “DCL” boxes in the position data.
Setting to the position data should be established for each position number. If settings are
established in VEL, ACC and DCL boxes in the position data, the movement to that position
number should be prioritized to the “VEL”, “ACC” and “DCL” of the command language in the
program.
Position No.1
MOVP 1
Drive in PTP operation made from
the current position to Position No. 1.