IAI America XSEL-KET - Manual (Page 206)

187
Part 4 Commands
INTELLIGENT ACTUATOR

ARC (Move 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 ARC
Passing
position
number
End
position
number
PE
[Function] Move along an arc from the current position to the position specified in operand 2, by passing
the position specified in operand 1.
The output will turn OFF at the start of arc movement, and turn ON when the movement is
complete.
Difference from ARC2:
ARC processing resembles moving along a polygon with a PATH command, while ARC2
actually performs arc interpolation.
Select an applicable command by considering the characteristics of each command.
(Normally ARC2 is used.)
(Note 1) If the division angle is set to “0” with a DEG command (division angle is calculated
automatically based on priority speed setting), the speed set in the data at passing position 1
or speed set by a VEL command will be used (former is given priority). The speed set in the
data at passing position 2 will have no meaning.
(Note 2) If the division angle is set to a value other than “0” with a DEG command (normal division
angle), the speed specified in the target position data will be used. (The speed set by a VEL
command will become valid if position data is not specified.)
(Note 3) The acceleration is selected in the order of the acceleration in the data at passing position 1,
followed by the value in “All-axis parameter No. 11, Default acceleration.”
The deceleration will become the same value as the valid acceleration selected above.
Therefore, the deceleration in the data at passing position 1 and the acceleration/deceleration
in the data at passing position 2 will not have any meaning.
(Note 4) 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 5) 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 1] VEL 100 Set the speed to 100 mm/sec.
ARC 100 101 Move along an arc from the current position to position 101
by passing position 100.
[Example 2] VEL 100 Set the speed to 100 mm/sec.
LET 1 5 Assign 5 to variable 1.
LET 2 6 Assign 6 to variable 2.
ARC *1 *2 Move along an arc from the current position to the content of
variable 2 (position 6) by passing the content of variable 1
(position 5).