IAI America XSEL-KE - Manual (Page 183)

168
Part 4 Commands
z ARC2 (Move along circle 2 (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 ARC2
Passing
position
number
End
position
number
PE
[Function] Move along an arc originating from the current position, passing the specified position and
terminating at the end position, via arc interpolation.
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
Default acceleration in all-axis parameter No. 11
(Default deceleration in all-axis parameter No. 12)
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(Note1) This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.)
(Note2) If the interval between the position origin and end position 1, or between passing position 1
and passing position 2, is small and the locus is
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interval between the two adjacent positions as much as possible, setting the locus slightly
inward of the soft limit boundary, etc.
[Example] VEL 100 Set the speed to 100 mm/sec.
ARC2 100 101 Move along an arc (circular interpolation) from the current
position to position No. 101 by passing position No. 100.
End position
Passing position
Position origin
Axis 1
Axis 2
Position No. 100
Position origin
Axis 1
Axis 2
Position No. 101