Figure 6-3. positive and negative travel angles, Arc move algorithm, Figure 6-4. circular arc move algorithm – National Instruments NI-Motion User Manual
Page 81: Arc move algorithm -3
Chapter 6
Arc Moves
© National Instruments Corporation
6-3
Figure 6-3. Positive and Negative Travel Angles
Arc Move Algorithm
Figure 6-4. Circular Arc Move Algorithm
1
Positive Travel Angle
2
Negative Travel Angle
1
2
Load Velocity
Start Motion
Load Acceleration/
Deceleration
Perform Measurements
(Optional)
Load Circular Arc
Radius, Start Angle,
and Travel Angle
Move
Constraints
Loop Waiting for Move Complete