IAI X-SEL PX, Operation Manual, Page: 380 / 560

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Part 4 Commands
Notes

With PTP optimal acceleration/deceleration for SCARA robot, the robot will not operate at an optimal
acceleration/deceleration unless a mass corresponding to the actual load at the tip of the robot is set
by a WGHT command. Be sure to set the tip load mass of the SCARA robot using a WGHT command.

PTP optimal acceleration/deceleration for SCARA robot is valid only when the SCARA robot performs
PTP operation. When the SCARA robot performs CP operation or linear operation, it will not operate at
an optimal acceleration/deceleration.

If an overload error occurs, make adjustments by lowering the set acceleration/deceleration as
deemed appropriate or providing an appropriate stationary time after acceleration/deceleration, to
prevent the overload error from occurring.
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Part 4 Commands
7. Horizontal move optimization function based on Z position for SCARA Robot
Certain models such as the high-speed SCARA robot IX-NNN5020H can use the Horizontal move
optimization function based on Z position for SCARA.
(Note) Conventional models such as IX-NNN5020 cannot use the Horizontal move optimization function
based on Z position for SCARA (“D8A: Optimal acceleration/deceleration, Horizontal move optimization
function based on Z position internal parameter error” will generate).
7.1 Function Overview
Horizontal move optimization function based on Z position for SCARA robot is a function to optimize the
horizontal move conditions based on the Z-axis position and tip load mass of the applicable SCARA robot.
This function is enabled or disabled using all-axis common parameter No. 51. To change the value set in
this parameter, write a desired parameter value to the flash ROM and then perform a software reset or
reconnect the power.
If the horizontal move optimization function for SCARA is enabled, the tip load mass of the SCARA robot
must be set using a WGHT command. Set an appropriate load mass according to the load, etc.

All-axis common parameters
No.
Parameter
name
Default
(reference) Input range Unit
Access
right
Remarks
51
SCARA axis
control 1
0H
0H ~
FFFFFFFF
H
F
Bits 8 to 11: Z position

horizontal
move optimization for SCARA (PTP)
(0: Disable
1: Enable)
(Available only on high-speed SCARA
robots of main application version 0.45
or later.)
Bits 12 to 15: Z position

horizontal
move optimization for SCARA (CP)
(0: Disable
1: Enable)
* It is recommended to disable this
function if CP operation must be
performed at a constant speed with
accurate locus and the set speed must
be reached.
(Available only on high-speed SCARA
robots of main application version 0.45
or later.)
* 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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