IAI X-SEL PX, Operation Manual, Page: 351 / 560

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(Note 6) An “Error No., C6B deviation overflow error” or “Error No., CA5, Stop deviation overflow error”
is sometimes detected before “Error No., 420, Steady-state (non-push) torque over error.” This
is normal.
(Note 7) When changing the torque setting to a high level from a low level at which axis movement can
no longer be guaranteed, be sure to issue a STOP command to the low-torque axis to clear the
deviation counter before changing to a high torque (while the torque is still low). If the torque
setting is changed from low to high while deviation pulses are still accumulated, control of axis
movement speed may be disabled and a dangerous situation may occur.
(Note 8) To return to a normal state (maximum torque), expressly specify “Steady-state (non-push)
torque limit (upper limit)” = 1000% and “Detection time for steady-state (non-push) torque limit
over” = 20000 msec.
* If a value greater than the upper limit of each axis is specified for “Steady-state (non-push)
torque limit (upper limit),” the upper limit of that axis (approx. 200 to 400%) will be set.
(Note 9) The following values are applied upon power ON reset, software reset or start of home return:
“Steady-state (non-push) torque limit (upper limit)” = Driver card parameter No. 40, “Maximum
torque limit (%)”
“Detection time for steady-state (non-push) torque limit over” = 20000 msec.
(Note 10) After the values of “Steady-state (non-push) torque limit (upper limit)” and “Detection time for
steady-state (non-push) torque limit over” are changed, the new settings will remain effective
even after the SEL program ends.
Accordingly, if you want to build a system by using this extended command, expressly set
“Steady-state (non-push) torque limit (upper limit)” and “Detection time for steady-state (non-
push) torque limit over” using extended commands in all SEL programs prior to the
commencement of each applicable operation. Do not assume the settings of “Steady-state
(non-push) torque limit (upper limit)” and “Detection time for steady-state (non-push) torque
limit over” will return to their original values when the applicable operation ends under other
program, because different settings of “Steady-state (non-push) torque limit (upper limit)” and
“Detection time for steady-state (non-push) torque limit over” will apply if the program is
aborted due to an error, etc., in which case unexpected problems may occur.
(Note 11) This extended command will not rewrite the value of Driver card parameter No. 40, “Maximum
torque limit” (main CPU flash memory) (inside the non-volatile memory).
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Chapter 3 Key Characteristics of Horizontal Articulated Robot (SCARA)
Operation
This chapter explains how to set the key characteristics of horizontal articulated robot operation, such as
commands and operations, arm systems, various coordinate systems and simple interference check
zones.
1. CP Operation and PTP Operation
A horizontal articulated robot performs CP operation and PTP operation.
1.1 CP Operation
(1) Locus
The axes move to the target position via mutual interpolation. The locus of axis tip during movement
can be specified using commands (linear, circular, arc, path movement, etc.).
Example)
MOVL 1
Move from the current position to position No. 1 linearly.
The arm system will not change during CP operation.
CP operation commands: MOVL, MVLI, TMLI, PATH, PSPL, PUSH, CIR2, ARC2, ARCD, ARCC,
CIRS, ARCS, CIR, ARC
For details on these commands, refer to Chapter 2, "Explanation of Commands."
(2) Speed and acceleration/deceleration settings for CP operation
The speed and acceleration/deceleration for CP operation are predefined in a program using control
declaration commands.
Speed setting command "VEL"; unit [mm/sec]
Acceleration setting command "ACC"; unit [G]
Deceleration setting command "DCL"; unit [G]
Example)
ACC 0.5 Set the acceleration for CP operation to 0.5 G.
DCL 0.5 Set the deceleration for CP operation to 0.5 G.
VEL 500 Set the speed for CP operation to 500 mm/sec.
MOVL 2 Move to position No. 2 linearly.
The speed and acceleration/deceleration for CP operation can also be set in the VEL, ACC and DCL
columns of position data.
If the speed and acceleration/deceleration are set in position data, they must be set for each position
number. If they are set in the VEL, ACC and DCL columns of a given position number, movement to that
position number will be given priority over the commands "VEL," "ACC" and "DCL" in the program.
Position No. 1
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