IAI America XSEL-KX - Manual (Page 190)

174
Part 4 Commands
 ARCS (Move three-dimensionally along arc (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 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
Same as the valid
acceleration value
2 Setting by VEL command Setting by ACC command
3
Default CP acceleration in
all-axis parameter No. 11
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 1) 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 2) The locus tends to shift inward as the speed increases. Minor adjustment, such as setting the
position data slightly outward, may be required.
(Note 3) If the arc diameter is small with respect to the set speed, the speed may be limited.
Y-axis
X-axis
Passing position
Position origin
Y
X
Z
End position