IAI X-SEL PX, Руководство по эксплуатации, Страница: 268 / 560

241
Part 4 Commands

CIR2 (Move along circle in CP operation (arc interpolation))
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 CIR2
Passing
position 1
number
Passing
position 2
number
PE
[Function] Move along a circle originating from the current position and passing positions 1 and 2, via
arc interpolation.
The rotating direction of the circle is determined by the given position data.
The diagram below describes a CW (clockwise) movement. Reversing passing positions 1
and 2 will change the direction of movement to CCW (counterclockwise).
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 neither speed is set, a “C88 speed specification error” will generate.
If neither acceleration/deceleration is valid, a “C89 acceleration/deceleration specification
error” will generate.
Passing position 1
Position origin
Axis 1
Axis 2
Passing position 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 only on the XY plane.
(Note 3) 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.
[Example] VEL 100 Set the speed to 100 mm/s.
CIR2 100 101 Move along a circle (circular interpolation) passing
position Nos. 100 and 101.
Position No. 100
Position origin
Position No. 101
Axis 1
Axis 2
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