IAI America XSEL-KX - Manual (Page 250)

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Part 4 Commands
Chapter 3 Key Characteristics of Horizontal Articulated Robot Operation
This chapter explains how to set the key characteristics of horizontal articulated robot operation, such as
commands and operations, arm systems, various coordinate systems and simple interference check
zones.
1. CP Operation and PTP Operation
A horizontal articulated robot performs CP operation and PTP operation.
1.1 CP Operation
(1) Locus
The axes move to the target position via mutual interpolation. The locus of axis tip during movement
can be specified using commands (linear, circular, arc, path movement, etc.).
Example)
MOVL 1
Move from the current position to position No. 1 linearly.
The arm system will not change during CP operation.
CP operation commands: MOVL, MVLI, TMLI, PATH, PSPL, PUSH, CIR2, ARC2, ARCD, ARCC,
CIRS, ARCS, CIR, ARC
For details on these commands, refer to Chapter 2, "Explanation of Commands."
(2) Speed and acceleration/deceleration settings for CP operation
The speed and acceleration/deceleration for CP operation are predefined in a program using control
declaration commands.
Speed setting command "VEL"; unit [mm/sec]
Acceleration setting command "ACC"; unit [G]
Deceleration setting command "DCL"; unit [G]
Example)
ACC 0.5 Set the acceleration for CP operation to 0.5 G.
DCL 0.5 Set the deceleration for CP operation to 0.5 G.
VEL 500 Set the speed for CP operation to 500 mm/sec.
MOVL 2 Move to position No. 2 linearly.
The speed and acceleration/deceleration for CP operation can also be set in the VEL, ACC and DCL
columns of position data.
If the speed and acceleration/deceleration are set in position data, they must be set for each position
number. If they are set in the VEL, ACC and DCL columns of a given position number, movement to that
position number will be given priority over the commands "VEL," "ACC" and "DCL" in the program.
The effective speed and acceleration are determined in the order of precedence specified below.
Precedence Speed Acceleration (deceleration)
1
Value set by the position data
specified in operand 1
Value set by the position data specified in operand 1
2 Value set by a VEL command Value set by an ACC (DCL) command
3
Default CP acceleration set by all-axis parameter No. 11
(Default CP deceleration set by all-axis parameter No. 12)
Position No. 1