IAI America XSEL-KE - Manual (Page 88)

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Part 3 Controller Data Structure
INTELLIGENT ACTUATOR
X-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 Axis 3 Axis 4 Speed Acceleration Deceleration
1
2
3
2998
2999
3000
*1 Varies depending on the actuator model.
*2 If speed, acceleration or deceleration is set in the position data, the setting will be given priority
over the corresponding data set in the application program. Leave the position data fields empty if
you wish to enable the corresponding data in the application program.
The speed and acceleration values become effective according to the priorities specified below.
Priority Speed Acceleration (deceleration)
1 Value of the position data set in operand 1 Value of the position data set in operand 1
2 Value set in the VEL command Value set in the ACC (DCL) command
3
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Values pertaining to a rotating axis are processed in degrees instead of millimeters.
If axis-specific parameter No. 1 (axis operation type) LVVHWWR³´URWDWLRQDOPRYHPHQWD[LVDQJOH
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