IAI PSEL, Руководство по эксплуатации

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Actuator Control Command
373
(Note 1) This command is valid on any planes in three-dimensional space. If four or more
axes are set in the position data, three axes are selected automatically from the
axes that have been set, starting from the axis of the youngest number.
If position data is set for axes 2 to 5, for example, a ARCS command is executed
based on the position data of axes 2 to 4.
(Note 2) The path tends to shift inward as the speed rises. Minor correction such as setting
the position data slightly outward may be required.
(Note 3) If the diameter of the circle is smaller relative to the set speed, the speed may be
limited.
(Although the extent to which the speed is limited can be reduced by raising the
acceleration/acceleration, make sure the acceleration and deceleration do not
exceed the range permitted by the actuator.)
(Note 4) If the distance between the position origin and passing position 1 or between
passing position 1 and passing position 2 is small and the path is near a soft limit,
“Error No. C73: Target-path soft limit over error” may occur.
In this case, increase the distance between the adjacent positions as much as
possible, move the path slightly inward from the soft limit boundary, or make other
appropriate correction.
(Note 5) 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.