IAI X-SEL PX, Руководство по эксплуатации, Страница: 275 / 560

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Part 4 Commands

ARCS (Move three-dimensionally along arc in CP operation)
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 ARCS
Passing
position
number
End
position
number
PE
[Function] Move along an arc (three-dimensional movement) originating from the current position,
passing the specified position and terminating at the end position.
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.
Passing position
Position origin
Z
End position
Axis 3
Axis 2
Axis 1
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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) This command is valid on arbitrary planes in a three-dimensional space. (Axis 2 (if there are
only two valid axes) or axis 3 may be selected automatically prior to axis 1 in accordance
with the position data.)
(Note 3) The locus tends to shift inward as the speed increases. Minor adjustment, such as setting
the position data slightly outward, may be required.
(Note 4) If the arc diameter is small with respect to the set speed, the speed may be limited.
(Although increasing the acceleration/deceleration will ease the speed limitation, do not
increase the acceleration/deceleration beyond the range permitted for the actuator.)
(Note 5) 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.
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