IAI America XSEL-KET - Manual (Page 199)

180
Part 4 Commands
INTELLIGENT ACTUATOR

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
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error” 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 1 and
passing position 2 is small and the locus runs near a soft limit, “Error No. C73, “Target-locus soft limit
over” may occur. In this case, increase the interval between each pair of positions as much as possible,
set the locus slightly on the inside of the soft limit boundary, or make other corrections.
Axis 3
Axis 2
Axis 1
Passing position 1
Position origin
Passing position 2