IAI X-SEL PX, Operation Manual, Page: 382 / 560

355
Part 4 Commands
Notes
 When the Horizontal move optimization function based on Z position for SCARA robot is enabled, the
tip load mass of the SCARA robot must be set using a WGHT command. An appropriate effect cannot
be obtained unless a mass corresponding to the actual load at the tip of the robot is set.
 When the Horizontal move optimization function based on Z position for SCARA robot is enabled, the
set speed may not be reached depending on the load mass and moving positions of the robot. If the
set speed must be reached, disable the Horizontal move optimization function based on Z position for
SCARA robot as necessary.
* Also when operand 1 is set to 0 (automatic division with priority on reaching set speed) in a DIS (set
division distance at spline movement) or DIG command (set arc angle), the Horizontal move
optimization function based on Z position for SCARA is given priority and the set speed may not be
reached.

In the case of a single operation with a PATH, CIR, ARC, CIRS, ARCS, PSPL or other command
when the Horizontal move optimization function based on Z position for SCARA robot (CP) is enabled,
the moving speed may not become constant while the command is being executed depending on the
load mass and moving positions of the robot. During a continuous operation involving continuous
move commands (PATH, PSPL, CIR2, ARC2, CIRS, ARCS, CIRS, ARCD, ARCC, CIR, ARC, etc.),
the operating speed may not become constant between commands depending on the operating
conditions. If the robot must operate at a constant speed, disable the Horizontal move optimization
function based on Z position for SCARA robot (CP) as necessary.
 When the Horizontal move optimization function based on Z position for SCARA robot (CP) is enabled,
the CP operation locus may deviate slightly depending on the load mass and moving positions of the
robot. If locus accuracy is required, disable the Horizontal move optimization function based on Z
position for SCARA robot (CP) as necessary.
356
Part 4 Commands
Chapter 4 Key Characteristics of Actuator Control Commands and Points
to Note
1. Continuous Movement Commands
[PATH, PSPL, CIR2, ARC2, CIRS, ARCS, ARCD, ARCC, CIR, ARC]
[1] By running a program with continuous movement commands input in a series of continuous
program steps, you can allow the actuators to perform operations continuously without stopping
between steps.
PATH 1 5
ARC2 6 7
PATH 8 12
[2] Continuous movement will not be achieved if an input condition is specified for any continuous
movement command.
PATH 1 5
20 ARC2 6 7
PATH 8 12
[3] The output field of each command will turn ON as the end position of that command approaches.
Only with the last command in a series of continuous movement commands, the output will turn
ON upon completion of operation (if there is no input condition).
(POTP = 1) [Example 1]
POTP 1
Output field Timing
308 Turn ON as P1 approaches.
309 Turn ON as P2 approaches.
310 Turn ON as P3 approaches.
PATH 1 3 308
311 Turn ON as P11 approaches.
ARC2 10 11 311
312 Turn ON as P21 approaches.
PATH 21 23 312
313 Turn ON as P22 approaches.
314
Turn ON when P23 operation is
complete.
[Example 2] (POTP = 0)
Output field Timing
PATH 1 3 308
308 Turn ON as P3 approaches.
ARC2 10 11 311
311 Turn ON as P11 approaches.
PATH 21 23 312
312
Turn ON when P23 operation is
complete.
Stops momentarily.
P1
(Position 1)
P3
P2
P4
P1
P5
P6
P7
P8
P9
P10
P12
P3
P2
P4
P1
P5
P6
P7
P8
P9
P10
P11
P12
P3
P2
P10
P23
P11
P21 P22
P11
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