The ARC command is a write-only command that starts a 2-axes arc interpolated motion. Arcs are similar to a 2-axis circular interpolation operation. The difference between them is that the endpoint position of the arc interpolation is arbitrarily set on the trajectory of the circular interpolation, thus creating an arc. An arc can be either the CW or CCW direction. All ARC moves are interpreted as absolute moves.


Applies to: CMD-4CR, CMD-4EX-SA


ASCII/Standalone                ARC


The Commander series allows arcs to be drawn using any 2 axes.


Applies to: PMX-4EX-SA, PMX-4ET-SA


ASCII/Standalone                ARCP                Perform ARC move in CW direction

ARCN                Perform ARC move in CCW direction         


The ARC command can only be used  with the X and Y axes on Performax series. 

Syntax:

Applies to: CMD-4CR, CMD-4EX-SA

Write:

ARC[A1][A2]P[C1]:[C2]:[Ɵ]        *for CW motion

               ARC[A1][A2]N[C1]:[C2]:[Ɵ]        *for CCW motion

Where:        [A1][A2]    specifies axis 1 and axis 2 (X, Y, Z, U),

N   or P           specifies direction of motion, with N = CCW, and P = CW,

[C1]:[C2] specifies the arc coordinate center of [A1],[A2] (32-bit value),

[Ɵ]                  specifies the end of position of the arc (unit = 0.001 degrees, 0-360,000)


Applies to: PMX-4EX-SA, PMX-4ET-SA

Write:

               ARCP[C1]:[C2]:[Ɵ]        *for CW motion

               ARCN[C1]:[C2]:[Ɵ]        *for CCW motion

Where:        N  or P          specifies direction of motion, with N = CCW, and P = CW,

[C1]:[C2] specifies the arc coordinate center of [A1],[A2] (32-bit value),

[Ɵ]                  specifies the end of position of the arc (unit = 0.001 degrees, 0-360,000)

Reply

Command is accepted and executed

Write:           

OK


Command cannot be processed

       An error message is returned. See Error Codes


Example: 

Applies to: CMD-4CR, CMD-4EX-SA

Write:        ARCXZP0:100:90000        *Arc interpolation of X and Z axis, center X = 0, Y = 100, 90-degree arc in the CW direction



Applies to: PMX-4EX-SA, PMX-4ET-SA

Write:        ARCN0:100:90000        * Arc interpolation of X and Y axis, center X = 0, Y = 100, 90-degree arc in the CCW direction

Notes:

  • Other conditions:

Joystick operation is disabled

Manual pulse generator (MPG) operation is disabled

Current operations are stopped

Error status is off

See also:

Coordinated Motion

ARCT, CIR, CIRT

Commander Manual

2.3 Interpolation Operation

2.3.2.1 Arc interpolation

2.3.4 Buffered interpolation operation