IAI PSEL, Руководство по эксплуатации

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[12] Actuator
Control
Command
379
(Note 1) With rectangular actuators, this command is valid on any rectangular planes. If
three or more axes are set in the position data, two 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 4, for example, a ARCC command is executed
based on the position data of axes 2 and 3.
(Note 2) SCARA axes are available only on XY plane.
(Note 3) If the center angle is small and the path is near a soft limit, “Error No. C73:
Target-path soft limit over error” may occur.
In this case, move the path slightly inward from the soft limit boundary or make
other appropriate correction. Also note that the larger the center angle, the
smaller the path error becomes.
(Note 4) 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] VEL 100 Set the speed to 100mm/s.
ARCC 100 120 Move along an arc from the position origin for a
center angle of 120
q
around position No. 100 being
the center (CCW direction).