IAI America SSEL - Manual (Page 213)

191
Part 2 Programs
z ARCD (Move along arc via specification of end position and center angle (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 ARCD
End
position
number
Center
angle
PE
[Function] Move along an arc originating from the current position and terminating at the end position,
via arc interpolation.
Specify the end position of movement in operand 1, and the center angle formed by the
position origin and end position in operand 2. The center angle is set in a range from –
359.999 to –0.001 or from 0.001 to 359.999. A positive value indicates CCW
(counterclockwise) movement, while a negative value indicates CW (clockwise) movement.
(Note) The rotating direction of the actual operation locus may vary from the specified direction
depending on how each axis is installed, how the two axes are combined, and so on. Perform
test operation to check the rotating direction.
The center angle is set in degrees and may include up to three decimal places.
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
1
Setting value in the position
data specified in operand 1 Setting value in the position data specified in
operand 1
2
Setting value by VEL
command
Setting value by ACC (DCL) command
3
Default acceleration in all-axis parameter No. 11
(Default 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 on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.)
[Example] VEL 100 Set the speed to 100 mm/s.
ARCD 100 120 Move along an arc from the position origin to position No.
100 for a center angle of 120 degrees (CCW direction).
End position
Position origin
Center angle