IAI America XSEL-KE - Manual (Page 192)

177
Part 4 Commands
z ARC (Move along arc)
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 ARC
Passing
position
number
End
position
number
PE
[Function] Move along an arc from the current position to the position specified in operand 2, by passing
the position specified in operand 1.
The output will turn OFF at the start of arc movement, and turn ON when the movement is
complete.
Difference from ARC2:
ARC processing resembles moving along a polygon with a PATH command, while ARC2
actually performs arc interpolation.
Select an applicable command by considering the characteristics of each command.
(Normally ARC2 is used.)
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automatically based on priority speed setting), the speed set in the data at passing position 1
or speed set by a VEL command will be used (former is given priority). The speed set in the
data at passing position 2 will have no meaning.
(Note 2) If the division angle is set to a value RWKHUWKDQ³´ZLWKD'(*FRPPDQGQRUPDOGLYLVLRQ
angle), the speed specified in the target position data will be used. (The speed set by a VEL
command will become valid if position data is not specified.)
(Note 3) The acceleration is selected in the order of the acceleration in the data at passing position 1,
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The deceleration will become the same value as the valid acceleration selected above.
Therefore, the deceleration in the data at passing position 1 and the acceleration/deceleration
in the data at passing position 2 will not have any meaning.
(Note 4) This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.).
(Note5) If the interval between the position origin and end position 1, or between passing position 1
and passing position 2, is small and the locus is
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interval between the two adjacent positions as much as possible, setting the locus slightly
inward of the soft limit boundary, etc.
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LET 1 5 Assign 5 to variable 1.
LET 2 6 Assign 6 to variable 2.
ARC *1 *2 Move along an arc from the current position to the content of
variable 2 (position 6) by passing the content of variable 1
(position 5).