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236

Part 4 Commands

1.2 PTP Operation

(1) Movement locus

The axes move to the target position at the specified speed. The locus of axis tip during movement

cannot be specified using commands.

Example)

MOVP 1

Move from the current position to position No. 1 via PTP

operation.

The arm system may change during movement depending on the operation area or upon execution

of an arm-system control command.

PTP operation commands: MOVP, MVPI, TMPI, PACH, PMVP, ARCH

For details on these commands, refer to Chapter 2, "Explanation of Commands."

(2) Speed and acceleration/deceleration settings for PTP operation

The speed and acceleration/deceleration for PTP operation are predefined in a program using

control declaration commands.

Speed setting command "VELS"; unit [% (ratio to the value set in "Axis-specific parameter No. 28:

Maximum PTP speed")]

Acceleration setting command "ACCS"; unit [% (ratio to the value set in "Axis-specific parameter No.

134: Maximum PTP acceleration”)]

Deceleration setting command "DCLS"; unit [% (ratio to the value set in "Axis-specific parameter No.

135: Maximum PTP deceleration”)]

Example)

ACCS

Set the acceleration for PTP operation to 50% of the maximum PTP

acceleration.

DCLS

Set the deceleration for PTP operation to 50% of the maximum PTP

deceleration.

VELS 50

Set the speed for PTP operation to 50% of the maximum PTP speed.

MOVP

Move to position No. 2 via PTP operation.

(3) Notes on PTP operation

The arm system may change during movement depending on the operation area or upon execution

of an arm-system control command.

Refer to 2, "Arm System," on the following page.

Position No. 1

1 2 ... 247 248 249 250 251 252 253 254 255 256 257 ... 376 377

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Iai-america XSEL-KX Bedienungsanleitung Seite 252