ADLINK AMP-208C - Manual (Page 128)

Motion Control Theory 114
AMP-204C / AMP-208C
¾ Method 2: Given center of circle and end point
(Center-End)
See table and figure below for helical curve parameters
Direct parameters can be set up as the 3D arc does. See prior
section for detail.
Figure 4-33: Three-dimension spiral interpolation (method 2)
Parameters Description
Center point Center of circle (relative or absolute)
Normal vector Normal vector of starting point circle plane
End point Ending point of cone (relative or absolute)
Direction Rotating direction and laps