IAI America XSEL-QX User Manual
Page 274
250
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 center angle 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 setting the locus slightly inward of the soft
limit boundary. The larger the center angle, the smaller the locus error becomes.
[Example]
VEL
100
Set the speed to 100 mm/s.
ARCD
100
120
Move along an arc from the position origin to position
No. 100 for a center angle of 120 degrees (CCW
direction).