IAI America XSEL-QX - Manual (Page 272)

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Part 4 Commands
(Note 1) Movement to any position where target values for both SCARA and linear movement axes
are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis
simultaneous specification error”).
To perform any operation meeting the above condition, use a GRP command or set different
position data for SCARA axes and for linear movement axes.
(Note 2) This command is valid on arbitrary planes in a three-dimensional space. (Axis 2 (if there are
only two valid axes) or axis 3 may be selected automatically prior to axis 1 in accordance
with the position data.)
(Note 3) The locus tends to shift inward as the speed increases. Minor adjustment, such as setting
the position data slightly outward, may be required.
(Note 4) If the arc diameter is small with respect to the set speed, the speed may be limited.
(Although increasing the acceleration/deceleration will ease the speed limitation, do not
increase the acceleration/deceleration beyond the range permitted for the actuator.)
(Note 5) If the interval between the position origin and passing position or between the passing
position and end position is small and the locus passes near a soft limit, an “Error No. C73,
Target-locus soft limit over error” may generate.
In this case, take an appropriate action such as increasing the position intervals as much as
possible or setting the locus slightly inward of the soft limit boundary.