IAI R-unit RSEL, Instruction Manual, Page: 450 / 844

Chapter 7 6-axis Cartesian Robot
7.2 Caution When Using Orthogonal Coordinate System Features
7-11
ME0392-4C
7.2.2 CP operation
● Tracks
An actuator drives towards the target position while each axis interpolate with each other. The
tracks during the drive can be specified with command languages. (linear, circle, arc, path
move, etc.)
(Example)
* In case indication of a track of the tool tip on a robot is required, it is necessary to indicate the
position on the orthogonal coordinates. When a position on the specific axis coordinates is
indicated, the constructing axes performs the interpolating operation. However, it is not
available to indicate a track of the tool tip except for the case that the R-, B- and T-axes are
not operated.
● Velocity and Acceleration/Deceleration Settings in CP Operation
The velocity and acceleration/deceleration settings of the CP 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 CP operation is set at 0.5G.
DCL 0.5 The deceleration in CP operation is set at 0.5G.
VEL 500 The velocity in CP operation is set at 500 mm/s.
MOVL 2 Makes a linear drive 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
MOVL 1
Linear drive made from the current
position to Position No. 1.