IAI America XSEL-KET - Manual (Page 107)

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INTELLIGENT ACTUATOR
Part 3 Controller Data Structure
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.
Priority Speed Acceleration (deceleration)
1 Value of position data set in operand 1 Value of position data set in operand 1
2 Value set by VEL command Value set by ACC (DCL) command
3 All-axis parameter No. 11, Default acceleration
(All-axis parameter No. 12, Default deceleration)
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  1 deg
Speed 1 mm/sec  1 deg/sec
Acceleration/deceleration 1 G = 9807 mm/sec 2  9807 deg/sec 2
 2000000.000 mm
*1, 2
1 ~ 2000/mmsec
*2
Standard
0.3 G
*2
Standard
0.3 G