IAI America XSEL-QX - Manual (Page 415)

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Appendix
8. Circular, Arc Operation
Description
The actuator operates along a two-dimensional circle or arc.
How to Use
To specify a circle, specify three passing points. To specify an arc, also specify three points, specifically
the start point, passing point and end point.
Example of Use 1
Circle
Example of Use 2
Arc
Reference
Some circle and arc commands can be executed not only two-dimensionally (involving two actuator axes)
but also three-dimensionally (involving three actuator axes).
CIRS --- Three-dimensional circular movement
ARCS --- Three-dimensional arc movement
x Specify “CIR2 2 3” after the actuator has completed its
movement to P1.
x When “CIR2 2 3” is specified based on the layout shown to the
left, the actuator will move clockwise along the circle.
x Specify “CIR2 3 2” if you want to move the actuator
counterclockwise.
x Specify “ARC2 2 3” after the actuator has completed its
movement to P1.