IAI America XSEL-KE - Manual (Page 187)

172
Part 4 Commands
z ARCD (Move along arc via specification of end position and center angle (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
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(Note) The rotating direction of the actual operation locus may vary depending on how the axes are
installed and combined, etc. Be sure to perform test operation to confirm the rotating
direction.
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
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.)
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slightly inward of the soft limit boundary, etc. For your information, the larger the center angle,
the smaller the locus error becomes.
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End position
Position origin
Center angle