IAI America XSEL-QX - Manual (Page 269)

245
Part 4 Commands
z CIRS (Move three-dimensionally along circle in CP operation)
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
[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 (DCL) command
3
All-axis parameter No. 11, Default
acceleration of SCARA axis
(All-axis parameter No. 12, Default
deceleration of SCARA axis)
All-axis parameter No. 200, Default
acceleration of linear movement axis
(All-axis parameter No. 201, Default
deceleration of linear movement axis)
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.
Axis 1
Passing position 1
Position origin
Passing position 2
Axis 3
Axis 2