Command 2006: Moves the arm from the current position to the specified position in Arc interpolation motion on XY plane face

Moves the arm to the specified position using circular interpolation in the XY plane.

Command Syntax

1. Option
   Specify the target position specifying method and each option. The number of necessary parameters varies depending on the specified options. Speed / Accel setting affects the number of parameters.
   Other options do not affect the number of parameters.
   For Parameter 2 and later for options, follow the descriptions (2) and later.
   Options are specified by Parameter 1.
   

	bit	Name	Description
Parameter 1	15	Till / Find	Specify Till and Find options. 0 = not specify 1 = Till 2 = Find
	14
	13	Parallel processing	Select whether to use a parallel processing 0 = No 1 = Yes
	12	CP	Select whether to use a path motion 0 = No 1 = Yes
	11	Speed / Accel	Specify whether to set Speed / Accel before executing the motion command. 0 = do not set 1 = set only Speed 2 = set only SpeedS 3 = set only SpeedR 4 = set only Accel 5 = set only AccelS 6 = set only AccelR 7 = set Speed and Accel 8 = set SpeedS and AccelS 9 = set SpeedR and AccelR
	10
	9
	8
	7	ROT	Give priority to tool orientation change and determine motion speed and acceleration / deceleration 0 = do not use 1 = use
	6	Reserved	Specify “0”.
	｜
	0

2. No Speed / Accel setting
   In this case, use until Parameter 3.
   Command No., Parameter 1, Parameter 2, Parameter 3

	bit	Name	Description
Parameter 2	15	midPoint	Specify by a point number. The middle point (taught previously by the user) which the arm travels through on its way from the current point to endPoint.
	14
	｜
	1
	0

	bit	Name	Description
Parameter 3	15	destination	Specify by a point number. The end point (taught previously by the user) which the arm travels to during the arc type motion. This is the final position at the end of the circular move.
	14
	｜
	1
	0

3. With Speed / Accel setting
   In this case, use until Parameter 4.
   Command No., Parameter 1, Parameter 2, Parameter 3, Parameter 4

	bit	Name	Description
Parameter 2	15	midPoint	Specify by a point number. The middle point (taught previously by the user) which the arm travels through on its way from the current point to endPoint.
	14
	｜
	1
	0

	bit	Name	Description
Parameter 3	15	destination	Specify by a point number. The end point (taught previously by the user) which the arm travels to during the arc type motion. This is the final position at the end of the circular move.
	14
	｜
	1
	0

	bit	Name	Description
Parameter 4	15	Speed / SpeedS / SpeedR	Specifies the speed table number of the selected type by an integer from 0 to 15. *Specify “0” if acceleration and deceleration are not set.
	｜
	8
	7	Accel / AccelS / AccelR	Specifies the acceleration/deceleration table number of the selected type by an integer from 0 to 15. *Specify “0” if acceleration and deceleration are not set.
	｜
	0

Response Syntax

Refer to the following.

Response Codes

Description

Moves the arm to the specified position using circular interpolation in the XY plane.

These two commands are available for SCARA (including RS series) and 6-axis manipulators.

Arc and Arc3 are used to move the arm in a circular interpolation motion from the current position to endPoint through midPoint.

The system automatically calculates a trajectory based on three points (current position, endPoint, and midPoint) and then moves the arm to the point defined by endPoint along the trajectory. The coordinates of midPoint and endPoint must be taught previously before executing the command.

Arc and Arc3 use the SpeedS speed value and AccelS acceleration and deceleration values. For the relation between the speed/acceleration and the acceleration/deceleration, refer to Using Arc3 with CP below. However, if the ROT modifier parameter is used, Arc and Arc3 use the SpeedR speed value and AccelR acceleration and deceleration values. In this case, SpeedS speed value and AccelS acceleration and deceleration value have no effect.

Usually, when the move distance is 0 and only the tool orientation is changed, an error occurs. However, by using the ROT parameter and giving priority to the acceleration and the deceleration of the tool rotation, it is possible to move the manipulator without the error. When there is no orientation change and movement distance is not 0 with the ROT modifier parameter, an error will occur.

Setting Speed and Acceleration for Arc motion

SpeedS and AccelS are used to set speed and acceleration for the Arc and Arc3 instructions.

SpeedS and AccelS allow the user to specify a velocity in mm/sec and acceleration in mm/sec².

Notes

Arc Instruction works in Horizontal Plane Only

The Arc path is a true arc in the Horizontal plane. The path is interpolated using the values for endPoint as its basis for Z and U. Use Arc3 for 3 dimensional arcs.

• Range verification for Arc command
  The Arc and Arc3 statements cannot compute a range verification of the trajectory prior to the arc motion. Therefore, even for target positions that are within an allowable range, en route the robot may attempt to traverse a path which has an invalid range, stopping with a severe shock which may damage the arm. To prevent this from occurring, be sure to perform range verifications by running the program at low speeds prior to running at faster speeds.

• Suggested motion to setup for the Arc move
  Because the arc motion begins from the current position, it may be necessary to use the Go, Jump or other related motion command to bring the robot to the desired position prior to executing Arc or Arc3.

• Using Arc, Arc3 with CP
  The CP parameter causes the arm to move to the end point without decelerating or stopping at the point defined by endPoint. This allows the user to string commands and execute a series of motion commands at a constant speed. The Arc and Arc3 instructions without CP always make the arm to decelerate to stop before reaching the end point.

• Potential Errors
  

  • Changing Hand Attributes
    Pay attention to the Hand attribute of each point when using the Arc command. If the hand orientation is changed (from Righty to Lefty or vice-versa) during the circular interpolation move, an error will occur. The arm attributes (/L: Lefty, or /R: Righty) must be the same for the current position, midPoint and endPoint points.
  • Attempt to move the arm outside the work envelope
    If the specified circular motion attempts to move the arm outside the work envelope of the arm, an error will occur.

Example

When the midpoint is P1 and endPoint is P2, without an option.

Command	Response
07D6H 0000H 0001H 0002H	07D6H 0000H 0000H