IAI America XSEL-QX User Manual
Page 268
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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 only on the XY plane.
(Note 3)
If the interval between the position origin and passing position or between the passing
position and end position 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.
[Example]
VEL
100
Set the speed to 100 mm/s.
ARC2
100
101
Move along an arc (circular interpolation) from the
current position to position No. 101 by passing position
No. 100.
Position No. 100
Position origin
Position No. 101
Axis 1
Axis 2