IAI X-SEL PX, Operation Manual, Page: 221 / 560

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Part 4 Commands

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)
Optional Optional VELS Ratio Prohibited CP
[Function] Set the travel speed for PTP operation command (angular velocity for axes other than the
Z-axis) as a ratio of the maximum PTP speed to be specified in operand 1. The ratio in
operand 1 is set as an integer (unit: %).
(Note 1) When a RIGH or LEFT command is used, the speed must be set via VELS even when PTP
operation commands are not used.
[Example 1] VELS 50 Set the travel speed for PTP operation command to
50% of the maximum speed.
MOVP 1 The axes will move to position No. 1 in PTP mode at
50% of the maximum speed.
194
Part 4 Commands

OVRD (Override)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional OVRD Speed ratio Prohibited CP
[Function] Reduce the speed in accordance with the ratio specified in operand 1 (speed coefficient
setting). The speed ratio is set in a range from 1 to 100%.
A speed command specifying a speed below 1 mm/sec can be generated using OVRD.
(Smoothness of actual operation cannot be guaranteed. Movement must be checked on
the actual machine.)
(The speed specified with a PAPR command (push-motion approach speed) is clamped
by the minimum speed of 1 mm/sec.)
[Example 1] VEL 150 Set the SCARA CP operation speed/linear movement
axis speed to 150 mm/sec.
VELS 90 Set the SCARA PTP operation speed ratio to 90%.
OVRD 50 Reduce the speed to 50%.
The SCARA CP operation speed/linear movement
axis speed becomes 75 mm/sec, while the SCARA
PTP operation speed ratio becomes 45%.
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