IAI America S-SEL-E - Manual (Page 133)

Page 128
CIR (Circular Movement)
[Function] Moves the actuator to the designated point while using interpolation (not point to point).
[Example] MOVL 100
Move to position No. 100 using interpolation.
MOVL *1
If variable 1 is 150, then the actuator moves to position 150 using interpolation.
[Function] Executes circular motion using the current position as the starting
point and passing points 1 and 2. The rotation direction is
determined by the position data. The following diagram shows
CW (clockwise) motion but this can be changed to CCW (counter-
clockwise) by exchanging positions 1 and 2)
*This command is available for the specified orthogonal plane
(Automatically selected by position data. Generally the XY
plane is selected.) Also, care is needed if using this with the
OFST command (check movement).
[Example] CIR 100 101
Executes a circular motion passing through position numbers 100
and 101.
Position No. 101
Position No. 100
Starting
Point
Passing Position 1
Passing Position 2
Chapter 4. Programming
MOVL (Position Data with Interpolation)
Starting
Point
E x p a n s i o n
c o n d i t i o n
( A N D · O R )
I n p u t
c o n d i t i o n
( I / O · F l a g )
C o m m a n d
P o s t
( O u t p u t p o r t · F l a g )
C o m m a n d O p e r a n d 1 O p e r a n d 2
O p t i o n a l O p t i o n a l M O V L
P o s i t i o n N o .
V a r i a b l e N o .
O p t i o n a l
E x p a n s i o n
c o n d i t i o n
( A N D · O R )
I n p u t
c o n d i t i o n
( I / O · F l a g )
C o m m a n d
P o s t
( O u t p u t p o r t · F l a g )
C o m m a n d O p e r a n d 1 O p e r a n d 2
O p t i o n a l O p t i o n a l C I R
P a s s i n g
p o s i t i o n 1
P a s s i n g
p o s i t i o n 2
O p t i o n a l
The tip of the combined motion for each
of the axes moves at the designated
speed. The path from the starting point
to the end point makes a straight line.
Move path when X-axis moves to 200mm point and
Y-axis moves to 100mm point from home.
X and Y axis complete move at the same time
X axis
Y axis
100mm
200mm
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