IAI America S-SEL-E - Manual (Page 202)

Page 197
Chapter 4. Programming
Step A/O N OP-Code Operand1 Operand2 Post Comment
1 HOME 11 X and Y-Axis Homing
2 VEL 200 Velocity 200mm/s Setting
3 ACC 0.3 Acceleration 0.3G
4 MOVL 1 Move to Position No.1 (Starting Point)
5 TAG 1
6 CIR 2 3 Circular Motion Passing through P2 and P3
7 GOTO 1 Jump TAG 1
3. Circular Movement Command
In less sophisticated controllers it was generally understood that the changes in speed would result in changes in the motion
profile. In the new Super SEL Controller, however, accurate circular motion profiles can be achieved by passing through the
exact points regardless of changes in speed settings.
Program of Locus above
Locus Programming
Passing point B
Passing point A
Start point
Y Axis
X Axis
P3
P2
P1
0
Circular movement only applies to two dimensional move-
ment. A circular motion program is easily constructed by
selecting a starting point and two passing points.
1. Set Position No.1 (P1) coordinate data (Starting Point).
2. Set Position No.2 (P2) and Position No.3 (P3) coordinate
data (Passing Points).
3. Use the MOVL command to move to Position No.1, and
make this the starting point (P1) of the circular move.
4. Use the CIR command to set the first passing point (P2)
in OPRND1 and the second passing point (P3) in
OPRND2.
* The direction of rotation can be reversed by exchang-
ing P2 and P3.