IAI America XSEL-KX - Manual (Page 188)

172
Part 4 Commands
 ARC2 (Move along arc 2 (CP operation))
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
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
Default CP acceleration in all-axis parameter No. 11
(Default CP deceleration in all-axis parameter No. 12)
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.
(Note) This command is valid only on the XY plane.
[Example] ARC2 100 101 Move along an arc (circular interpolation) from the current
position to position No. 101 by passing position No. 100.
End position
Passing position
Position origin
Position No. 100
Position origin
Position No. 101
X-axis
Y-axis
X-axis
Y-axis