IAI America XSEL-KE - Manual (Page 185)

170
Part 4 Commands
z ARCS (Move three-dimensionally along arc)
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 ARCS
Passing
position
number
End position
number
PE
This command is supported by the controllers whose main application version is 0.33 or later. The
command can be input using the PC software of version 1.1.0.5 or later or teaching pendant of version
1.05 or later.
[Function] Move along an arc (three-dimensional movement) originating from the current position,
passing the specified position and terminating at the end position.
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 command
3
Default acceleration in all-
axis parameter No. 11
Same as the valid
acceleration value
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will generate.
(Note 1) 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 2) The locus tends to shift inward as the speed increases. Minor adjustment, such as setting the
position data slightly outward, may be required.
(Note 3) If the arc diameter is small with respect to the set speed, the speed may be limited.
(Increasing the acceleration/deceleration will reduce the speed limitation, but they must not
exceed the range permitted by the actuator.)
(Note 4) 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.
(Note 5) For the axis set in the position data, set the same axis between passing position and end
position
End position Passing position
Position origin
Axis 1
Axis 3
Axis 2