IAI America XSEL-QX - Manual (Page 273)

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Part 4 Commands
z ARCD (Move along arc via specification of end position and center angle in CP operation (arc
interpolation))
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional ARCD
End
position
number
Center
angle
PE
[Function] Move along an arc originating from the current position and terminating at the end position,
via arc interpolation.
Specify the end position of movement in operand 1, and the center angle formed by the
position origin and end position in operand 2. The center angle is set in a range from –
359.999 to –0.001 or from 0.001 to 359.999. A positive value indicates CCW
(counterclockwise) movement, while a negative value indicates CW (clockwise) movement.
The center angle is set in degrees and may include up to three decimal places.
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
1
Setting in the position data specified in
operand 1 Setting in the position data specified in
operand 1
2 Setting by VEL command Setting by ACC (DCL) command
3
All-axis parameter No. 11, Default
acceleration of SCARA axis
(All-axis parameter No. 12, Default
deceleration of SCARA axis)
All-axis parameter No. 200, Default
acceleration of linear movement axis
(All-axis parameter No. 201, Default
deceleration of linear movement axis)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.
End position Position origin
Center angle