Joint Robot Manipulator - Software Operation Manual
Advantech LNC Technology Co., Ltd.
79
17.2.3.
Arc midpoint (S2)
Use G1 T5 S2 to set the points on the arc and G1 T5 S4 to set the end point of the arc.
G1
S2 X100 Y90 Z80
Starting from the current position,
the work
coordinates (100, 90, 80) are a point on the
arc
, and the work coordinates (100, 100, 10) is
the end point of the arc.
17.2.4.
Arc Center (S3)
Use G1 T5 S3 to set the center of the arc and G1 T5 S4 to set the end point of the arc, and use D2,
D3 to specify the clockwise arc or the counterclockwise arc.
G1
S3 X100 Y90 Z80
G1 S4 D2
X100 Y100 Z10 A0 B0 C39 F4000
Use
work coordinate (100, 90, 80) as the
center of the arc
, the work coordinate (100,
100, 10) as the end point of the arc to draw a
clockwise arc, and the attitude at the end of
the arc is (0, 0, 39).
17.2.5.
Arc End Point (S4)
Use G1 T5 S2 to set the point on the arc, and G1 T5 S4 to set the end point of the arc.
G1
S2 X100 Y90 Z80
G1 S4
X100 Y100 Z10 A0 B0 C39 F4000
Starting from the current position,
the work
coordinates (100, 90, 80) are a point on the
arc
, and the work coordinates (100, 100, 10)
are the end point of the arc.
17.3.
Clockwise arc and counterclockwise arc (G2, G3)
Code description
L: 0 world, 1 work, 2 tools, 3 joints. (default: work)
M: 0 absolute, 1 relative. (Default: Absolute)
I: center relative position X
J: center relative position Y
K: center relative position Z
X: coordinate X or J1.
Y: coordinate Y or J2.
Z: coordinate Z or J3.
A: coordinate A or J4.
B: coordinate B or J5.
C: coordinate C or J6.
