IAI America XSEL-QX - Manual (Page 266)

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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 1 or between passing
position 1 and passing position 2 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.
CIR2 100 101 Move along a circle (circular interpolation) passing
position Nos. 100 and 101.
Position No. 100
Position origin
Position No. 101
Axis 1
Axis 2