IAI America TT-C3 - Manual (Page 230)

220
INTELLIGENT ACTUATOR
Chapter 4 Commands
2.
Explanation
of
Commands
z ARCH (Arch motion)
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 ARCH
Position
number
Position
number
PE
Perform arch motion from the current point and move to the specified points.
x Move to the points specified in operand 1, via arch motion.
x Movements in directions other than the arch-motion Z-axis direction will begin after rising from the current
point to the start-point arch trigger. After the Z point specified in operand 2 (as the highest point) is passed
and movements in directions other than the arch-motion Z-axis direction are complete, the axes will pass
near the end-point arch trigger and reach the specified point.
x Palletizing arch triggers must be set using an ATRG command.
* When the operation is resumed after a pause, depending on the position where the operation is resumed the
locus may follow the lines (dotted lines) indicated by asterisks in the diagram for the composite section from
ascent to horizontal movement or from horizontal movement to descent. Be careful not to cause interference.
x The arch-motion Z-axis coordinate of the end point will become the arch-motion Z-axis component of the
point data specified in operand 1, if any, plus the arch-motion Z-axis offset. If there is no arch-motion Z
component, the arch-motion Z-axis coordinate of the end point will become the arch-motion Z-axis coordinate
of the start point plus the arch-motion Z-axis offset. (Normally the offset is added to all arch-motion positions,
such as the arch triggers and Z point.)
x An error will generate if the start-point arch trigger is set below the start point or the end-point arch trigger is
set below the end point. (Note: Up/down has nothing to do with +/– on the coordinate system.)
x The arch-motion Z-axis up direction refers to the direction toward the Z point from the start point (the down
direction refers to the opposite direction), and has nothing to do with the size of coordinate value. Therefore,
be sure to confirm the actual operating direction when using this command.
Highest point of arch motion
Position No. 12
Start-point arch trigger
Position No. 13
End-point arch trigger
Position No. 11
Start point End point
Position No. 10