IAI America XSEL-KX - Manual (Page 151)

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Part 4 Commands
 DCLS (Set deceleration ratio)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional DCLS Ratio Prohibited CP
[Function] Set the travel deceleration for PTP operation command (angular deceleration for axes other
than the Z-axis) as a ratio of the maximum PTP deceleration to be 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.