IAI America XSEL-QX - Manual (Page 265)

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Part 4 Commands
z CIR2 (Move along circle in CP operation (arc interpolation))
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 CIR2
Passing
position 1
number
Passing
position 2
number
PE
[Function] Move along a circle originating from the current position and passing positions 1 and 2, via
arc interpolation.
The rotating direction of the circle is determined by the given position data.
The diagram below describes a CW (clockwise) movement. Reversing passing positions 1
and 2 will change the direction of movement to CCW (counterclockwise).
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
1
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 (DCL) command
3
All-axis parameter No. 11, Default acceleration of
SCARA axis
(All-axis parameter No. 12, Default deceleration of
SCARA axis)
All-axis parameter No. 200, Default acceleration of
linear movement axis
(All-axis parameter No. 201, Default deceleration of
linear movement axis)
If neither speed is set, a “C88 speed specification error” will generate.
If neither acceleration/deceleration is valid, a “C89 acceleration/deceleration specification
error” will generate.
Passing position 1
Position origin
Axis 1
Axis 2
Passing position 2