IAI America XSEL-KE - Manual (Page 154)

139
Part 4 Commands
z SCRV (Set sigmoid motion ratio)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional SCRV Ratio Prohibited CP
[Function] Set the ratio of sigmoid motion control of the actuator in the value specified in operand 1.
The ratio is set as an integer in a range from 0 to 50 (%).
a
b
X 100 (%)
If the ratio is not set using this command or 0% is set, a trapezoid motion will be
implemented.
A SCRV command can be used with the following commands: MOVP, MOVL, MVPI, MVLI,
JBWF, JBWN, JFWF, JFWN
[Example 1] SCRV 30 Set the sigmoid motion ratio to 30%.
a
b
Speed
Time