IAI America XSEL-KET - Manual (Page 202)

183
Part 4 Commands
INTELLIGENT ACTUATOR

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
position origin and end position in operand 2. The center angle is set in a range from –
359.999 to –0.001 or from 0.001 to 359.999. A positive value indicates CCW
(counterclockwise) movement, while a negative value indicates CW (clockwise) movement.
(Note) The rotating direction along the actual operation locus may vary depending on how the axes
are installed and combined. Be sure to confirm the rotating direction by test operation.
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)
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 center angle is small and the locus runs near a soft limit, “Error No. C73, “Target-locus
soft limit over” may occur. In this case, set the locus slightly on the inside of the soft limit
boundary or make other corrections. Note that the larger the center angle, the smaller the
locus error becomes.
[Example] VEL 100 Set the speed to 100 mm/sec.
ARCD 100 120 Move along an arc from the position origin to position No.
100 for a center angle of 120 degrees (CCW direction).
End position
Position origin
Center angle