Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 268)

100

101

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Part 4 Commands

(Note 1) Movement to any position where target values for both SCARA and linear movement axes

are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis

simultaneous specification error”).

To perform any operation meeting the above condition, use a GRP command or set

different position data for SCARA axes and for linear movement axes.

(Note 2) With SCARA axes, this command is valid only on the XY plane.

(Note 3) If the interval between the position origin and passing position or between the passing

position and end position is small and the locus passes near a soft limit, an “Error No. C73,

Target-locus soft limit over error” may generate.

In this case, take an appropriate action such as increasing the position intervals as much as

possible or setting the locus slightly inward of the soft limit boundary.

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

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

current position to position No. 101 by passing position

No. 100.

Position No. 100

Position origin

Position No. 101

Axis 1

Axis 2

1 2 ... 263 264 265 266 267 268 269 270 271 272 273 ... 557 558

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Iai-america XSEL-QX Manuel d'utilisateur Page 268

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