IAI America XSEL-KE User Manual
Page 188
173
Part 4 Commands
z ARCC (Move along arc via specification of center 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
ARCC
Center
position
number
Center
angle
PE
[Function] Move along an arc originating from the current position by keeping a specified radius from the
center position, via arc interpolation.
Specify the center position in operand 1, and the center angle formed by the position origin
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(Note)
The rotating direction of the actual oper
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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.
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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
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(Note1)
This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
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(Note2)
If the center angle is small and the locus is
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the smaller the locus error becomes.
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Position origin
Center angle
Center position