IAI X-SEL PX, Operation Manual, Page: 419 / 560

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Appendix
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, also specify three points, specifically
the start point, passing point and end point.
Example of Use 1
Circle
Example of Use 2
Arc
Reference
Some circle and arc commands can be executed not only two-dimensionally (involving two actuator axes)
but also three-dimensionally (involving three actuator axes).
CIRS --- Three-dimensional circular movement
ARCS --- Three-dimensional arc movement

Specify “CIR2 2 3” after the actuator has completed its
movement to P1.
 When “CIR2 2 3” is specified based on the layout shown to the
left, the actuator will move clockwise along the circle.

Specify “CIR2 3 2” if you want to move the actuator
counterclockwise.

Specify “ARC2 2 3” after the actuator has completed its
movement to P1.
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Appendix
9. Output of Home Return Complete Signal (for Linear Axes)
Description
Output a signal to confirm completion of home return (Incremental specification or quasi-absolute
specification)
X-SEL controllers can output a home return complete signal via setting of an I/O parameter, but the
following explains how to output a home return complete signal in a program using a general-purpose
output.
When a general-purpose output is used, once the output is turned ON it will remain ON even after the
program ends or other program is started. (The output will turn OFF under certain conditions such as
actuation of an emergency stop. It is also possible to hold the output using an I/O parameter (I/O
parameter No. 70 or 71)).
Example of Use
a. Output a home return complete signal.
b. Use a home return complete signal to prevent the actuator from performing home return again after it
has been completed once.
c. Use the output field instead of a BTON command.
Reference
If I/O parameter No. 50 is set to “2,” output port No. 304 can be used as a home return complete output
(dedicated output).
Caution: Take note that if you are using the linear servo actuator LSAS-N10/N15 of quasi-absolute
type, after completing a home return operation following power on the actuator moves in a
range of approx. 16 mm from the stopped position to confirm the current position.
Execute home return.
General-purpose output (arbitrary)
Execute home return if output 303 is OFF.
Output a home return complete signal.
The same processes implemented by
the above two steps are performed.
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