IAI America XSEL-KX - Manual (Page 189)

173
Part 4 Commands
 CIRS (Move three-dimensionally along circle (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 CIRS
Passing
position 1
number
Passing
position 2
number
PE
[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
Same as the valid
acceleration value
2 Setting by VEL command Setting by ACC command
3
Default CP acceleration in
all-axis parameter No. 11
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.
Y-axis
X-axis
Passing position 1
Position origin
Passing position 2
Y
X
Z