IAI America XSEL-QX - Manual (Page 222)

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