IAI America XSEL-KE - Manual (Page 184)

169
Part 4 Commands
z CIRS (Move three-dimensionally along circle)
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 CIRS
Passing
position 1
number
Passing
position 2
number
PE
This command is supported by the controllers whose main application version is 0.33 or later. The
command can be input using the PC software of version 1.1.0.5 or later or teaching pendant of version
1.05 or later.
[Function] Move along a circle (three-dimensional movement) originating from the current position and
passing positions 1 and 2 sequentially.
The rotating direction of the circle is determined by the given position data.
The movement in the diagram below will be performed in the reverse direction if passing
positions 1 and 2 are reversed.
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 command
3
Default acceleration in all-
axis parameter No. 11
Same as the valid
acceleration value
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will generate.
(Note 1) This command is valid on arbitrary planes in a three-dimensional space. (Axis 2 (if there are
only two valid axes) or axis 3 may be selected automatically prior to axis 1 in accordance with
the position data.)
(Note 2) The locus tends to shift inward as the speed increases. Minor adjustment, such as setting the
position data slightly outward, may be required.
(Note 3) If the circle diameter is small with respect to the set speed, the speed may be limited.
(Increasing the acceleration/deceleration will reduce the speed limitation, but they must not
exceed the range permitted by the actuator.)
(Note 4) If the interval between the position origin and passing position 1, or between passing position
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increasing the interval between the two adjacent positions as much as possible, setting the
locus slightly inward of the soft limit boundary, etc.
(Note 5) For the axis set in the position data, set the same axis between passing positions 1 and 2.
Axis 3
Axis 2
Axis 1
Passing position 1
Position origin
Passing position 2