IAI PSEL, Operation Manual

Page: 862 / 1062

[12]
Actuator Control Command
368
z
ARC2 (Move along circle via CP operation 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)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ARC2
Passing position
number
End position
number
PE
Applicable models
All models [Refer to Section 5.1 for details of models]
{
[Function] Move along an arc originating from the current position, passing the specified
position and terminating at the end position, via arc interpolation.
(Other than XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD and MSEL-PCX/PGX)
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
1
Setting value in the position
data specified in operand 1 Setting value in the position data specified in
operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
3
Default acceleration in all-axis parameter No. 11
(Default deceleration in all-axis parameter No. 12)
(XSEL-JX/KX/PX/QX/RX/SX/RXD/SXD and MSEL-PCX/PGX)
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
1
Setting value in the position
data specified in operand 1 Setting value in the position data specified in
operand 1
2 Setting value by VEL command Setting value by ACC (DCL) command
3
All-axis parameter No. 11, “Default acceleration for
SCARA axis”
(All-axis parameter No. 12, “Default deceleration for
SCARA axis”)
All-axis parameter No. 200, “Default acceleration for
linear axis”
(All-axis parameter No. 201, “Default deceleration for
linear axis”)
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.
Axis 2
End position
Axis 1
Passing position
Position origin