IAI PSEL, Operation Manual

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[12]
Actuator Control Command
384
(Note 5) 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 6) 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 1] VEL 100 Set the speed to 100mm/s.
CIR 100 101 Move along a circle from the current position by
passing positions 100 and 101 sequentially.
[Example 2] VEL 100 Set the speed to 100mm/s.
LET 1 5 Assign 5 to variable 1.
LET 2 6 Assign 6 to variable 2.
CIR *1 *2 Move along a circle from the current position by
passing the contents of variables 1 and 2 (positions
5 and 6) sequentially.