IAI America XSEL-QX - Manual (Page 377)

353
Part 4 Commands
Notes
x With PTP optimal acceleration/deceleration for SCARA robot, the robot will not operate at an optimal
acceleration/deceleration unless a mass corresponding to the actual load at the tip of the robot is set
by a WGHT command. Be sure to set the tip load mass of the SCARA robot using a WGHT command.
x PTP optimal acceleration/deceleration for SCARA robot is valid only when the SCARA robot performs
PTP operation. When the SCARA robot performs CP operation or linear operation, it will not operate at
an optimal acceleration/deceleration.
x If an overload error occurs, make adjustments by lowering the set acceleration/deceleration as
deemed appropriate or providing an appropriate stationary time after acceleration/deceleration, to
prevent the overload error from occurring.