IAI America XSEL-QX - Manual (Page 217)

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Part 4 Commands
z VELS (Dedicated SCARA command: Set speed ratio)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional VELS Ratio Prohibited CP
[Function] Set the travel speed for PTP operation command (angular velocity for axes other than the
Z-axis) as a ratio of the maximum PTP speed to be specified in operand 1. The ratio in
operand 1 is set as an integer (unit: %).
(Note 1) When a RIGH or LEFT command is used, the speed must be set via VELS even when PTP
operation commands are not used.
[Example 1] VELS 50 Set the travel speed for PTP operation command to
50% of the maximum speed.
MOVP 1 The axes will move to position No. 1 in PTP mode at
50% of the maximum speed.