IAI X-SEL PX, Operation Manual, Page: 378 / 560

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Part 4 Commands
5.2 Monitoring Coordinates on Each Axis System
Coordinates on each axis system can be monitored using the PC software or teaching pendant.
The figure below is a display example in the PC software. When a given axis system is selected as the jog
coordinate system in the position data edit window, the current position display will change to reflect the
coordinates on the selected axis system.
(When an IX5020 robot (arm length 500 mm, Z-axis 200 mm) is positioned at axis 1 = 0, axis 2 = 500, axis
3 = 0 and axis 4 = 0 on the base coordinate system)
Note) Position data cannot be captured separately for each axis system.
For details on the operating procedures, refer to the operation manual for the PC software or teaching
pendant.
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6. PTP Optimal Acceleration/Deceleration Function for SCARA Robot
Certain models such as the high-speed SCARA robot IX-NNN5020H perform PTP operation at an optimal
acceleration/deceleration.
(Note) Conventional models such as IX-NNN5020 do not perform PTP operation at an optimal
acceleration/deceleration. When a conventional model such as IX-NNN5020 performs PTP
operation, the maximum acceleration and deceleration conform to axis-specific parameter No.
134 “Maximum PTP acceleration (SCARA axis)” and No. 135 “Maximum PTP deceleration
(SCARA axis),” respectively.
The acceleration during PTP operation is determined by the ratio (%) set by ACCS and DCLS
commands.
6.1 Function Overview
PTP optimal acceleration/deceleration for SCARA robot is a function to automatically adjust the
acceleration and deceleration to optimal levels according to the tip load condition and other conditions of
the applicable SCARA robot. To enable PTP optimal acceleration/deceleration for SCARA robot, the tip
load mass must be set using a WGHT command, in addition to setting the acceleration/deceleration ratio
by ACCS/DCLS commands, etc., as required on conventional models. Set an appropriate load mass
according to the load, etc.
When PTP optimal acceleration/deceleration for SCARA is enabled, the acceleration and deceleration
during PTP operation are calculated by the formulas below:

PTP acceleration = Maximum acceleration determined by the load mass, etc. x ACCS
command [%]

PTP deceleration = Maximum deceleration determined by the load mass, etc. x DCLS
command [%]
* The WGHT command is supported by main controller application version 0.45 or later.
It is valid in PC software version 7.5.0.0 or later and teaching pendant version 1.11 or later.
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