SPEL_Arc

Description

Moves the arm from the current position to the specified position in circular interpolation motion on XY plane face.

Common Inputs and Outputs

Reference: Function Blocks Common Inputs and Outputs

Inputs

midPoint

UINT Middle point in Arc command.

endPoint

UINT End point in Arc command.

MaxTime

DINT The maximum execution time allowed.

Operation

Reference: Function Blocks General Operation

For more details, refer to the following manual:

"SPEL+ Language Reference manual – Arc Statement"

Example

To move from current position passing through P2 and ending at P3, in a circular motion.