IAI America XSEL-KET - Manual (Page 198)

179
Part 4 Commands
INTELLIGENT ACTUATOR

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)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.
(Note 1) This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.)
(Note 2) If the interval between the position origin and passing position or between passing position
and end position is small and the locus runs near a soft limit, “Error No. C73, “Target-locus
soft limit over” may occur. In this case, increase the interval between each pair of positions as
much as possible, set the locus slightly on the inside of the soft limit boundary, or make other
corrections.
[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