IAI America XSEL-KX - Manual (Page 187)

171
Part 4 Commands
 CIR2 (Move along circle 2 (CP operation))
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional CIR2
Passing
position 1
number
Passing
position 2
number
PE
[Function] Move along a circle originating from the current position and passing positions 1 and 2, via
arc interpolation.
The rotating direction of the circle is determined by the given position data.
The diagram below describes a CW (clockwise) movement. Reversing passing positions 1
and 2 will change the direction of movement to CCW (counterclockwise).
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 (DCL) command
3
Default CP acceleration in all-axis parameter No. 11
(Default CP deceleration in all-axis parameter No. 12)
If neither speed is set, a “C88 speed specification error” will generate.
If neither acceleration/deceleration is valid, a “C89 acceleration/deceleration specification
error” will generate.
(Note) This command is valid only on the XY plane.
[Example] CIR2 100 101 Move along a circle (circular interpolation) passing position
Nos. 100 and 101.
Passing position 1
Position origin
X-axis
Y-axis
Passing position 2
Position No. 100
Position origin
X-axis
Y-axis
Position No. 101