IAI America XSEL-QX - Manual (Page 220)

196
Part 4 Commands
z ACCS (Dedicated SCARA command: Set acceleration 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 ACCS Ratio Prohibited CP
[Function] Set the travel acceleration for SCARA PTP operation command (angular acceleration for
axes other than the Z-axis), as the ratio to the maximum PTP acceleration, in the value
specified in operand 1. The ratio in operand 1 is set as an integer (unit: %).
(Note 1) When setting the acceleration ratio, always refer to 5, "Precautions for Use," in the
operation manual for the IX-Series Horizontal Articulated Robot.
[Example] ACCS 50 Set the travel acceleration for PTP operation command
to 50% of the maximum acceleration.