IAI America XSEL-KX - Manual (Page 79)

63
Part 3 Controller Data Structure
X-SEL language consists of a position part (position data = coordinates, etc.) and a command part
(application program).
2. Position Part
As position data, coordinates, CP speeds, CP accelerations and CP decelerations are set and stored.
X-axis Y-axis Z-axis R-axis * * *
No. Axis 1 Axis 2 Axis 3 Axis 4 Vel Acc Dcl
1
2
3
:
:
:
2998
2999
3000
* Varies depending on the actuator model.
If speed, acceleration or deceleration is set in the position data, the setting will be given priority over
the corresponding data set in the application program. Leave the position data fields empty if you
wish to enable the corresponding data in the application 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)
Values pertaining to the R-axis (rotating axis) are processed in degrees instead of millimeters.
Example) Distance 1 mm
→ 1 deg
Speed 1 mm/sec
→ 1 deg/sec
Acceleration/deceleration 1 G = 9807 mm/sec
2
→ 9807 deg/sec 2