IAI America XSEL-QX - Manual (Page 221)

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Part 4 Commands
z DCL (Set deceleration)
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 DCL Deceleration Prohibited CP
[Function] Set the SCARA CP operation deceleration/linear movement axis deceleration in the value
specified in operand 1.
The deceleration in operand 1 is set in G and may include up to two decimal places.
(Note) In CP operation where the position data does not include deceleration and a deceleration
has not been set using a DCL command, either, the SCARA will use the default value
registered in “All-axis parameter No. 12, Default CP deceleration of SCARA axis,” while the
linear movement axis will use the default value registered in “All-axis parameter No. 201,
Default deceleration of linear movement axis.”
A DCL command cannot be used with CIR and ARC commands.
[Example] DCL 0.3 Set the deceleration to 0.3 G.
(Note) Setting a deceleration exceeding the specified range for the actuator may generate an
error. It may also result in a failure or shorter product life.