IAI America XSEL-QX - Manual (Page 224)

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Part 4 Commands
z SCRV (Set sigmoid motion 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 SCRV Ratio (S-motion type) CP
[Function] Set the ratio of sigmoid motion control of the actuator in the value specified in operand 1.
The ratio is set as an integer in a range from 0 to 50 (%).
If the ratio is not set using this command or 0% is set, a trapezoid motion will be
implemented.
A SCRV command can be used with the following commands: MOVP, MOVL, MVPI, MVLI,
TMPI, TMLI, JBWF, JBWN, JFWF, JFWN
You can set the S-motion type in operand 2 if the main application version is 0.45 or later.
This setting is valid in PC software version 7.5.0.0 or later and teaching pendant version
1.11 or later.
Value set in operand 2 Description
0 or blank S-motion A
1 S-motion B (recommended)