Iai-america XSEL-KE Manuel d'utilisateur télécharger pdf (Page 184)

169

Part 4 Commands

z CIRS (Move three-dimensionally along circle)

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

This command is supported by the controllers whose main application version is 0.33 or later. The

command can be input using the PC software of version 1.1.0.5 or later or teaching pendant of version

1.05 or later.

[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

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 command

Default acceleration in all-

axis parameter No. 11

Same as the valid

acceleration value

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,IDFFHOHUDWLRQGHFHOHUDWLRQLVQRWYDOLGD³&DFFHOHUDWLRQGHFHOHUDWLRQVSHFLILFDWLRQHUURU´

will generate.

(Note 1) 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 2) The locus tends to shift inward as the speed increases. Minor adjustment, such as setting the

position data slightly outward, may be required.

(Note 3) If the circle diameter is small with respect to the set speed, the speed may be limited.

(Increasing the acceleration/deceleration will reduce the speed limitation, but they must not

exceed the range permitted by the actuator.)

(Note 4) If the interval between the position origin and passing position 1, or between passing position

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ORFXVVRIWOLPLWRYHUHUURU´PD\JHQHUDWH,Ithis error generates, make correction by

increasing the interval between the two adjacent positions as much as possible, setting the

locus slightly inward of the soft limit boundary, etc.

(Note 5) For the axis set in the position data, set the same axis between passing positions 1 and 2.

Axis 3

Axis 2

Axis 1

Passing position 1

Position origin

Passing position 2

1 2 ... 179 180 181 182 183 184 185 186 187 188 189 ... 423 424

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Iai-america XSEL-KE Manuel d'utilisateur Page 184

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