IAI America XSEL-QX - Manual (Page 267)

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Part 4 Commands
z 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