IAI America XSEL-QX - Manual (Page 376)

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Part 4 Commands
6. PTP Optimal Acceleration/Deceleration Function for SCARA Robot
Certain models such as the high-speed SCARA robot IX-NNN5020H perform PTP operation at an optimal
acceleration/deceleration.
(Note) Conventional models such as IX-NNN5020 do not perform PTP operation at an optimal
acceleration/deceleration. When a conventional model such as IX-NNN5020 performs PTP
operation, the maximum acceleration and deceleration conform to axis-specific parameter No.
134 “Maximum PTP acceleration (SCARA axis)” and No. 135 “Maximum PTP deceleration
(SCARA axis),” respectively.
The acceleration during PTP operation is determined by the ratio (%) set by ACCS and DCLS
commands.
6.1 Function Overview
PTP optimal acceleration/deceleration for SCARA robot is a function to automatically adjust the
acceleration and deceleration to optimal levels according to the tip load condition and other conditions of
the applicable SCARA robot. To enable PTP optimal acceleration/deceleration for SCARA robot, the tip
load mass must be set using a WGHT command, in addition to setting the acceleration/deceleration ratio
by ACCS/DCLS commands, etc., as required on conventional models. Set an appropriate load mass
according to the load, etc.
When PTP optimal acceleration/deceleration for SCARA is enabled, the acceleration and deceleration
during PTP operation are calculated by the formulas below:
x PTP acceleration = Maximum acceleration determined by the load mass, etc. x ACCS
command [%]
x PTP deceleration = Maximum deceleration determined by the load mass, etc. x DCLS
command [%]
* The WGHT command is supported by main controller application version 0.45 or later.
It is valid in PC software version 7.5.0.0 or later and teaching pendant version 1.11 or later.