IAI X-SEL PX, Operation Manual, Page: 272 / 560

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Part 4 Commands

CIRS (Move three-dimensionally along circle in CP operation)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional CIRS
Passing
position 1
number
Passing
position 2
number
PE
[Function] Move along a circle (three-dimensional movement) originating from the current position and
passing positions 1 and 2 sequentially.
The rotating direction of the circle is determined by the given position data.
The movement in the diagram below will be performed in the reverse direction if passing
positions 1 and 2 are reversed.
The speed and acceleration will take valid values based on the following priorities:
Priority Speed Acceleration (deceleration)
1
Setting in the position data specified
in operand 1
Setting in the position data specified in
operand 1
2 Setting by VEL command Setting by ACC (DCL) command
3
All-axis parameter No. 11, Default
acceleration of SCARA axis
(All-axis parameter No. 12, Default
deceleration of SCARA axis)
All-axis parameter No. 200, Default
acceleration of linear movement axis
(All-axis parameter No. 201, Default
deceleration of linear movement axis)
If speed is not set, a “C88 speed specification error” will generate.
If acceleration/deceleration is not valid, a “C89 acceleration/deceleration specification error”
will generate.
Axis 1
Passing position 1
Position origin
Passing position 2
Axis 3
Axis 2
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Part 4 Commands
(Note 1) Movement to any position where target values for both SCARA and linear movement axes
are specified simultaneously is prohibited (“Error No. 421, SCARA/linear movement axis
simultaneous specification error”).
To perform any operation meeting the above condition, use a GRP command or set
different position data for SCARA axes and for linear movement axes.
(Note 2) With SCARA axes, this command is valid on arbitrary planes in a three-dimensional space.
(Axis 2 (if there are only two valid axes) or axis 3 may be selected automatically prior to
axis 1 in accordance with the position data.)
(Note 3) The locus tends to shift inward as the speed increases. Minor adjustment, such as setting
the position data slightly outward, may be required.
(Note 4) If the circle diameter is small with respect to the set speed, the speed may be limited.
(Although increasing the acceleration/deceleration will ease the speed limitation, do not
increase the acceleration/deceleration beyond the range permitted for the actuator.)
(Note 5) If the interval between the position origin and passing position 1 or between passing
position 1 and passing position 2 is small and the locus passes near a soft limit, an “Error
No. C73, Target-locus soft limit over error” may generate. In this case, take an appropriate
action such as increasing the position intervals as much as possible or setting the locus
slightly inward of the soft limit boundary.
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