IAI PSEL, Operation Manual

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Actuator Control Command
386
(Note 6) XSEL-PX/QX/RX/SX/RXD/SXD cannot make a movement to draw an arch using
the SCARA axes and liner axes, or using the SCARA axes (axes 1 to 4) and
SCARA axes (axes 5 to 8). Either B80 “Indication Prohibited Axes Error” or 421
“SCARA/Linear Drive Axes Double Indication Error” will occur. Use GRP
Command, or operate the position data of SCARA axis and linear drive axis
separately.
[Example 1] VEL 100 Set the speed to 100mm/s.
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 100mm/s.
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).