IAI America XSEL-QX User Manual

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Part 4 Commands

z DCLS (Dedicated SCARA command: Set deceleration 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

DCLS Ratio

Prohibited CP

[Function]

Set the travel deceleration for SCARA PTP operation command (angular deceleration for
axes other than the Z-axis), as the ratio to the maximum PTP deceleration, in the value
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

Set the travel deceleration for PTP operation command
to 50% of the maximum deceleration.

This manual is related to the following products:

XSEL-PX