IAI America XSEL-QX - Manual (Page 379)

355
Part 4 Commands
Notes
x When the Horizontal move optimization function based on Z position for SCARA robot is enabled, the
tip load mass of the SCARA robot must be set using a WGHT command. An appropriate effect cannot
be obtained unless a mass corresponding to the actual load at the tip of the robot is set.
x When the Horizontal move optimization function based on Z position for SCARA robot is enabled, the
set speed may not be reached depending on the load mass and moving positions of the robot. If the
set speed must be reached, disable the Horizontal move optimization function based on Z position for
SCARA robot as necessary.
* Also when operand 1 is set to 0 (automatic division with priority on reaching set speed) in a DIS (set
division distance at spline movement) or DIG command (set arc angle), the Horizontal move
optimization function based on Z position for SCARA is given priority and the set speed may not be
reached.
x In the case of a single operation with a PATH, CIR, ARC, CIRS, ARCS, PSPL or other command
when the Horizontal move optimization function based on Z position for SCARA robot (CP) is enabled,
the moving speed may not become constant while the command is being executed depending on the
load mass and moving positions of the robot. During a continuous operation involving continuous
move commands (PATH, PSPL, CIR2, ARC2, CIRS, ARCS, CIRS, ARCD, ARCC, CIR, ARC, etc.),
the operating speed may not become constant between commands depending on the operating
conditions. If the robot must operate at a constant speed, disable the Horizontal move optimization
function based on Z position for SCARA robot (CP) as necessary.
x When the Horizontal move optimization function based on Z position for SCARA robot (CP) is enabled,
the CP operation locus may deviate slightly depending on the load mass and moving positions of the
robot. If locus accuracy is required, disable the Horizontal move optimization function based on Z
position for SCARA robot (CP) as necessary.