IAI PSEL, Operation Manual

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[12]
Actuator Control Command
367
(Note 1) With rectangular actuators, this command is valid on any rectangular planes. If
three or more axes are set in the position data, two axes are selected
automatically from the axes that have been set, starting from the axis of the
youngest number.
If position data is set for axes 2 to 4, for example, a CIR2 command is executed
based on the position data of axes 2 and 3.
(Note 2) SCARA axes are available only on XY plane.
(Note 3) If the distance between the position origin and passing position 1 or between
passing position 1 and passing position 2 is small and the path is near a soft limit,
“Error No. C73: Target-path soft limit over error” may occur.
In this case, increase the distance between the adjacent positions as much as
possible, move the path slightly inward from the soft limit boundary, or make other
appropriate correction.
(Note 4) XSEL-PX/QX/RX/SX/RXD/SXD cannot make a movement to draw an arch using
the SCARA axes and liner axes, or using the SCARA axes (axes 1 to 4) and
SCARA axes (axes 5 to 8). Either B80 “Indication Prohibited Axes Error” or 421
“SCARA/Linear Drive Axes Double Indication Error” will occur. Use GRP
Command, or operate the position data of SCARA axis and linear drive axis
separately.
[Example] VEL 100 Set the speed to 100mm/s.
CIR2 100 101 Move along a circle (circular interpolation) passing
position No. 100 and 101.
Axis 2
Axis 1
Position No. 101
Position No. 100
Position
origin