National Instruments NI-Motion - Manual (Page 81)

Chapter 6 Arc Moves
© National Instruments Corporation 6-3 NI-Motion User Manual
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