IAI America XSEL-KE - Manual (Page 191)

176
Part 4 Commands
z CIR (Move 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 CIR
Passing
position 1
number
Passing
position 2
number
PE
[Function] Move along a circle originating from the current position and passing the positions specified in
operands 1 and 2.
Therefore, reversing the settings of operands 1 and 2 will implement a circular movement in
the reverse direction.
The output will turn OFF at the start of circular movement, and turn ON when the movement
is complete.
Difference from CIR2:
CIR processing resembles moving along a polygon with a PATH command, while CIR2
actually performs arc interpolation.
Select an applicable command by considering the characteristics of each command.
(Normally CIR2 is used.)
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automatically based on priority speed setting), the speed set in the data at passing position 1
or speed set by a VEL command will be used (former is given priority). The speed set in the
data at passing position 2 will have no meaning.
(Note 2) If the division angle is set to a value RWKHUWKDQ³´ZLWKD'(*FRPPDQG QRUPDOGLYLVLRQ
angle), the speed specified in the target position data will be used. (The speed set by a VEL
command will become valid if position data is not specified.)
In the case of circular movement, the axes will return from passing position 2 to the start
position at the speed declared by a VEL command. Therefore, a VEL command must always
be used with a CIR command.
(Note 3) The acceleration is selected in the order of the acceleration in the data at passing position 1,
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The deceleration will become the same value as the valid acceleration selected above.
Therefore, the deceleration in the data at passing position 1 and the acceleration/deceleration
in the data at passing position 2 will not have any meaning.
(Note 4) This command is valid on arbitrary orthogonal planes. (Axis 2 may be selected automatically
prior to axis 1 in accordance with the position data.)
(Note 5) 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.
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LET 1 5 Assign 5 to variable 1.
LET 2 6 Assign 6 to variable 2.
CIR *1 *2 Move along a circle from the current position by passing the
contents of variables 1 and 2 (positions 5 and 6)
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