IAI X-SEL PX, Operation Manual, Page: 279 / 560

251
Part 4 Commands

ARCC (Move along arc via specification of center position and center angle in CP operation (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 ARCC
Center position
number
Center
angle
PE
[Function] Move along an arc originating from the current position by keeping a specified radius from
the center position, via arc interpolation.
Specify the center position 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 –3600 to 3600
degrees (±10 revolutions). A positive value indicates CCW (counterclockwise-direction)
movement, while a negative value indicates CW (clockwise-direction) movement (setting
unit: degree).
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
All-axis parameter No. 11, Default
acceleration of SCARA axis
(All-axis parameter No. 12, Default
deceleration of SCARA axis)
All-axis parameter No. 200, Default
acceleration of linear movement axis
(All-axis parameter No. 201, Default
deceleration of linear movement 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.
Position origin
Center angle
Center position
252
Part 4 Commands
(Note 1) Movement to any position where target values for both SCARA and linear movement axes
are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis
simultaneous specification error”).
To perform any operation meeting the above condition, use a GRP command or set
different position data for SCARA axes and for linear movement axes.
(Note 2) With SCARA axes, this command is valid only on the XY plane.
(Note 3) If the center angle is small and the locus passes near a soft limit, an “Error No. C73,
Target-locus soft limit over error” may generate.
In this case, take an appropriate action such as setting the locus slightly inward of the soft
limit boundary. The larger the center angle, the smaller the locus error becomes.
[Example] VEL 100 Set the speed to 100 mm/s.
ARCC 100 120 Move along an arc from the position origin for a center
angle of 120 degrees around position No. 100 being the
center (CCW direction).
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