IAI America ASEL - Manual (Page 104)

Part 2 Programs
Chapter 1 SEL
Language Data
82
Part 2 Programs
SEL language consists of a position part (position data = coordinates, etc.) and a command part
(application program).
2. Position Part
As position data, coordinates, speeds, accelerations and decelerations are set and stored.
Position No. Axis 1 Axis 2 Speed Acceleration Deceleration
1
2
3
1498
1499
1500
*1 Varies depending on the actuator model.
*2 If a speed, acceleration or deceleration is set in the position data, the applicable setting takes
precedence over the corresponding data specified in the application program, as shown in the
priority table below. Leave the position data fields empty if you wish to enable the corresponding
data in the application program.
Priority Speed Acceleration (deceleration)
1
Setting corresponding to the position
data specified by operand 1
Setting corresponding to the position data
specified by operand 1
2 Setting by a VEL command Setting by an ACC (DCL) command
3
Default acceleration in all-axis parameter No. 11
(Default deceleration in all-axis parameter No. 12)
Values pertaining to a rotating axis are processed in degrees instead of millimeters.
If axis-specific parameter No. 1 (axis operation type) is set to “1” (rotational movement axis (angle
control)) for a given axis, all millimeter values pertaining to that axis (including parameters, etc.) will be
processed in degrees.
If the gear ratio parameters (axis-specific parameter Nos. 50 and 51) are set correctly, the angles
(deg) will represent those of the body of rotation at the end.
Example) Distance 1 mm o 1 deg
Speed 1 mm/sec o 1 deg/sec
Acceleration/deceleration 1 G = 9807 mm/sec 2 o 9807 deg/sec 2
r 2000000.000 mm
*1, 2
1 ~ 2000/mmsec
*2
Standard
0.3 G
*2
Standard
0.3 G