IAI America XSEL-QX - Manual (Page 350)

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Part 4 Commands
1.2 PTP Operation
(1) Movement locus
The axes move to the target position at the specified speed. The locus of axis tip during movement
cannot be specified using commands.
Example)
MOVP 1
Move from the current position to position No. 1 via PTP
operation.
The arm system may change during movement depending on the operation area or upon execution
of an arm-system control command.
PTP operation commands: MOVP, MVPI, TMPI, PACH, PMVP, ARCH
For details on these commands, refer to Chapter 2, "Explanation of Commands."
(2) Speed and acceleration/deceleration settings for PTP operation
The speed and acceleration/deceleration for PTP operation are predefined in a program using
control declaration commands.
Speed setting command "VELS"; unit [% (ratio to the value set in “Axis-specific parameter No. 28:
Maximum PTP speed (SCARA axis)”)]
Acceleration setting command "ACCS"; unit [% (ratio to the value set in “Axis-specific parameter No.
134: Maximum PTP acceleration (SCARA axis)”)]
Deceleration setting command "DCLS"; unit [% (ratio to the value set in “Axis-specific parameter No.
135: Maximum PTP deceleration (SCARA axis)”)]
Example)
ACCS 50 Set the acceleration for PTP operation to 50% of the maximum PTP
acceleration.
DCLS 50 Set the deceleration for PTP operation to 50% of the maximum PTP
deceleration.
VELS 50 Set the speed for PTP operation to 50% of the maximum PTP speed.
MOVP 2 Move to position No. 2 via PTP operation.
(3) Notes on PTP operation
The arm system may change during movement depending on the operation area or upon execution
of an arm-system control command.
Refer to 2, "Arm System," on the following page.
Position No. 1