IAI X-SEL PX, Operation Manual, Page: 223 / 560

195
Part 4 Commands

ACC (Set acceleration)
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 ACC Acceleration Prohibited CP
[Function] Set the SCARA CP operation acceleration/linear movement axis acceleration in the value
specified in operand 1.
The acceleration in operand 1 is set in G and may include up to two decimal places.
(Note) In CP operation where the position data does not include acceleration and an acceleration
has not been set using an ACC command, either, the SCARA will use the default value
registered in “All-axis parameter No. 11, Default CP acceleration of SCARA axis,” while the
linear movement axis will use the default value registered in “All-axis parameter No. 200,
Default acceleration of linear movement axis.”
[Example 1] ACC 0.3 Set the acceleration to 0.3 G.
(Note) Setting an acceleration exceeding the specified range for the actuator may generate an
error. It may also result in a failure or shorter product life.
196
Part 4 Commands

ACCS (Dedicated SCARA command: Set acceleration 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 ACCS Ratio Prohibited CP
[Function] Set the travel acceleration for SCARA PTP operation command (angular acceleration for
axes other than the Z-axis), as the ratio to the maximum PTP acceleration, in the value
specified in operand 1. The ratio in operand 1 is set as an integer (unit: %).
(Note 1) When setting the acceleration ratio, always refer to 5, "Precautions for Use," in the
operation manual for the IX-Series Horizontal Articulated Robot.
[Example] ACCS 50 Set the travel acceleration for PTP operation command
to 50% of the maximum acceleration.
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