Iai-america XSEL-KE Manuel d'utilisateur télécharger pdf (Page 185)

170

Part 4 Commands

z 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

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

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

Default acceleration in all-

axis parameter No. 11

Same as the valid

acceleration value

,IVSHHGLVQRWVHWD³&VSHHGVSHFLILFDWLRQHUURU´ZLOOJHQHUDWH

,IDFFHOHUDWLRQGHFHOHUDWLRQLVQRWYDOLGD³&DFFHOHUDWLRQGHFHOHUDWLRQVSHFLILFDWLRQHUURU´

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 end position 1, or between passing position 1

and passing position 2, is small and the locus is QHDUDVRIWOLPLW³(UURU1R&7DUJHWORFXV

VRIWOLPLWRYHUHUURU´PD\JHQHUDWH,IWKLVHUURUgenerates, make correction by increasing the

interval between the two adjacent positions as much as possible, setting the locus slightly

inward of the soft limit boundary, etc.

(Note 5) For the axis set in the position data, set the same axis between passing position and end

position

End position

Passing position

Position origin

Axis 1

Axis 3

Axis 2

1 2 ... 180 181 182 183 184 185 186 187 188 189 190 ... 423 424

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Iai-america XSEL-KE Manuel d'utilisateur Page 185

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