IAI America XSEL-KET - Manual (Page 318)

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Appendix
INTELLIGENT ACTUATOR
8. Circular/Arc Operation
[Description]
The actuator operates along a two-dimensional circle or arc.
[How to use]
To specify a circle, specify three passing points. To specify an arc, specify three points of start point,
passing point and end point.
[Use example 1]
Circle
[Use example 2]
Arc
[Reference]
Circle or arc commands can be executed not only two-dimensionally (between two actuator axes), but
also three-dimensionally (among three actuator axes).
CIRS --- Move along a circle three-dimensionally.
ARCS --- Move along an arc three-dimensionally.
P1
P2
P3
 Specify “CIR2 2 3” after the actuator has moved to P1 and while it is
stopped at P1.
 When “CIR2 2 3” is specified based on the layout shown to the left,
the actuator will move along the circle in the clockwise direction.
 Specify “CIR2 3 2” to cause the actuator to move in the
counterclockwise direction.
P1
P2
P3
 Specify “ARC2 2 3” after the actuator has moved to P1 and while it
is stopped at P1.