Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 203)

184

Part 4 Commands

INTELLIGENT ACTUATOR

 ARCC (Move along arc via specification of center 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 ARCC

Center

position

number

Center

angle

[Function] Move along an arc originating from the current position by keeping a specified radius from the

center position, via arc interpolation.

Specify the center position 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 –3600 to 3600 degrees

(±10 revolutions). A positive value indicates CCW (counterclockwise-direction) movement,

while a negative value indicates CW (clockwise-direction) movement (setting unit: degree).

(Note) The rotating direction along the actual operation locus may vary depending on how the axes

are installed and combined. Be sure to confirm the rotating direction by test operation.

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)

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 center angle is small and the locus runs near a soft limit, “Error No. C73, “Target-locus

soft limit over” may occur. In this case, set the locus slightly on the inside of the soft limit

boundary or make other corrections. Note that the larger the center angle, the smaller the

locus error becomes.

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

ARCC 100 120 Move along an arc from the position origin for a center angle

of 120 degrees around position No. 100 being the center

(CCW direction).

Position origin

Center angle

Center position

1 2 ... 198 199 200 201 202 203 204 205 206 207 208 ... 435 436

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