Iai-america XSEL-KX Bedienungsanleitung PDF herunterladen (Seite 192)

176

Part 4 Commands

 ARCC (Move along arc via specification of center position and center angle (CP operation))

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command, declaration

Output

(Output, flag)

Command,

declaration

Operand 1 Operand 2

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).

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 CP acceleration in all-axis parameter No. 11

(Default CP 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 only on the XY plane.

[Example]

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 ... 187 188 189 190 191 192 193 194 195 196 197 ... 376 377

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