IAI X-SEL PX, Руководство по эксплуатации, Страница: 270 / 560

243
Part 4 Commands

ARC2 (Move along arc 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 ARC2
Passing
position
number
End
position
number
PE
[Function] Move along an arc originating from the current position, passing the specified position and
terminating at the end position, via arc interpolation.
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.
End position
Passing position
Position origin
Axis 1
Axis 2
244
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 interval between the position origin and passing position or between the passing
position and end position 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 increasing the position intervals as much as
possible or setting the locus slightly inward of the soft limit boundary.
[Example] VEL 100 Set the speed to 100 mm/s.
ARC2 100 101 Move along an arc (circular interpolation) from the
current position to position No. 101 by passing position
No. 100.
Position No. 100
Position origin
Position No. 101
Axis 1
Axis 2
246