IAI America SSEL - Manual (Page 274)

252
Part 2 Programs
2. PATH/PSPL Commands
When executing a PATH or PSPL command, pay attention to the locus because it will change if the
acceleration/deceleration is different between points.
The locus can be fine-tuned by changing the acceleration/deceleration, but different
acceleration/deceleration settings between points will prevent smooth transition of speeds when moving
from one position to another.
If there is a large difference in deceleration/acceleration between points and the positioning distance is
small, the speed may drop. Exercise caution.
3. CIR/ARC Commands
The processing by a CIR or ARC command resembles moving along a polygon with a PATH command.
A small division angle may cause the speed to drop.
CIR2, ARC2, ARCD and ARCC commands actually perform arc interpolation.
4. CIR2/ARC2/ARCD/ARCC Commands
With a CIR2, ARC2, ARCD or ARCC command, the speed can be changed (only in the arc interpolation
section) by inputting a speed for the point specified in operand 1. These commands are effective when
you must lower the speed partially because the radius is small and the arc locus cannot be maintained
inside the allowable range.
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)
Division angle set by a
DEG command
CIR
CIR2