IAI PSEL, Operation Manual

Page: 870 / 1062

[12]
Actuator Control Command
376
z
ARCD (Move along arc via CP operation by specifying 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)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional ARCD
End position
number
Center
angle
PE
Applicable models
All models [Refer to Section 5.1 for details of models]
{
[Function]
Move along a circle originating from the current position and passing positions 1
and 2, via arc interpolation.
The rotating direction of the circle is determined by the given position data.
The diagram below describes a CW (clockwise) movement. Reversing passing
positions 1 and 2 will change the direction of movement to CCW (counterclockwise).
The setting unit of the center angle is degree and the set value is effective to three
decimal points.
(Note)
The rotating direction of the actual operation locus may vary from the specified
direction depending on how each axis is installed, how the two axes are
combined, and so on. Perform test operation to check the rotating direction.
The setting unit of the center angle is degree and the set value is effective to three
decimal points.
(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.
End position Position origin
Center angle