The CIRT command is similar to the CIR command, with the addition of interpolation with a third axis to perform a helical or tangential type movement.  CIRT is a write-only command and can only be used for a circular interpolation between the X and Y axes, with the Z axis used for linear coordination.  Circles can be drawn in either the CW or CCW direction.  All CIRT moves are interpreted as absolute moves.


Applies to: CMD-4CR, CMD-4EX-SA


ASCII/Standalone                CIRT

Syntax:

Write:

               CIRTN[C1]:[C2]:[Z target]        * for CCW motion

               CIRTP[C1]:[C2]:[Z target]         * for CW motion

Where:        N is CCW motion, P is CW motion,

       [C1]:[C2]    specifies the circle coordinate center of X, Y axes (32-bit value),

       [Z target] specifies the target position for the Z-axis (32-bit value)

Reply 

Command is accepted and executed

Write:           

OK


Command cannot be processed

       An error message is returned. See Error Codes


Example: 

Write:        CIRTP1000:0:1000        * Circular interpolation of X and Y axis, center X = 1000, Y = 0, with movement along the Z axis to absolute position of 1000

Notes:

  • Other conditions:

Joystick operation is disabled

Manual pulse generator (MPG) operation is disabled

Current operations are stopped

Error status is off

See also:

Coordinated Motion, Circular interpolation

ARC, ARCT, CIR

Commander Manual

2.3 Interpolation Operation

2.3.3 Helical or Tangential interpolation

2.3.4 Buffered interpolation operation