IAI America XSEL-KET - Manual (Page 200)

181
Part 4 Commands
INTELLIGENT ACTUATOR

ARCS (Move three-dimensionally 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 ARCS
Passing
position
number
End
position
number
PE
This command is supported by the controllers whose main application version is 0.33 or later. The command can be
input using the PC software of version 1.1.0.5 or later or teaching pendant of version 1.05 or later.
[Function] Move along an arc (three-dimensional movement) originating from the current position, passing the
specified position and terminating at the end position.
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 command
3
Default acceleration in all-
axis parameter No. 11
Same as the valid
acceleration value
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 1) This command is valid on arbitrary planes in a three-dimensional space. (Axis 2 (if there are only two
valid axes) or axis 3 may be selected automatically prior to axis 1 in accordance with the position data.)
(Note 2) The locus tends to shift inward as the speed increases. Minor adjustment, such as setting the position
data slightly outward, may be required.
(Note 3) If the arc diameter is small with respect to the set speed, the speed may be limited.
(Increasing the acceleration/deceleration will reduce the speed limitation, but they must not exceed the
range permitted by the actuator.)
(Note 4) If the interval between the position origin and passing position or between passing position and end
position is small and the locus runs near a soft limit, “Error No. C73, “Target-locus soft limit over” may
occur. In this case, increase the interval between each pair of positions as much as possible, set the
locus slightly on the inside of the soft limit boundary, or make other corrections.
End position Passing position
Position origin
Axis 1
Axis 3
Axis 2