Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 270)

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Part 4 Commands

(Note 1) Movement to any position where target values for both SCARA and linear movement axes

are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis

simultaneous specification error”).

To perform any operation meeting the above condition, use a GRP command or set

different position data for SCARA axes and for linear movement axes.

(Note 2) With SCARA axes, this command is valid on arbitrary planes in a three-dimensional space.

(Axis 2 (if there are only two valid axes) or axis 3 may be selected automatically prior to

axis 1 in accordance with the position data.)

(Note 3) The locus tends to shift inward as the speed increases. Minor adjustment, such as setting

the position data slightly outward, may be required.

(Note 4) If the circle diameter is small with respect to the set speed, the speed may be limited.

(Although increasing the acceleration/deceleration will ease the speed limitation, do not

increase the acceleration/deceleration beyond the range permitted for the actuator.)

(Note 5) If the interval between the position origin and passing position 1 or between passing

position 1 and passing position 2 is small and the locus passes near a soft limit, an “Error

No. C73, Target-locus soft limit over error” may generate. In this case, take an appropriate

action such as increasing the position intervals as much as possible or setting the locus

slightly inward of the soft limit boundary.

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Iai-america XSEL-QX Manuel d'utilisateur Page 270

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