Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 198)

179

Part 4 Commands

INTELLIGENT ACTUATOR

 ARC2 (Move along circle 2 (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 ARC2

Passing

position

number

End

position

number

[Function] Move along an arc originating from the current position, passing the specified position and

terminating at the end position, via arc interpolation.

The speed and acceleration will take valid values based on the following priorities:

Priority Speed Acceleration (deceleration)

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 (DCL) command

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 1) This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically

prior to axis 1 in accordance with the position data.)

(Note 2) 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.

[Example] VEL 100 Set the speed to 100 mm/sec.

ARC2 100 101 Move along an arc (circular interpolation) from the current

position to position No. 101 by passing position No. 100.

End position

Passing position

Position origin

Axis 1

Axis 2

Position No. 100

Position origin

Axis 1

Axis 2

Position No. 101

1 2 ... 193 194 195 196 197 198 199 200 201 202 203 ... 435 436

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