ADLINK PCI-8258 - Manual (Page 153)

Motion Control Theory 139
PCI-8254 / PCI-8258
Relevant commands are described below:
¾ method 1: given center of circle, angle and normal vector
as shown in figure below:
Figure 4-40: Three-dimension arc interpolation (method 1)
This entry method is easy for you to create an arc track without the
restriction of half or full circle. You must ensure the correctness of
normal vector. This controller is default to correct your normal
vector value if necessary.
• Auto Normal Vector Correct:
If the normal vector entered by you is not the orthogonal vector
from center of circle to starting point the controller correct your
entry value automatically by Gram-Schmidt normalization,
Function name Description
APS_arc3_ca
APS_arc3_ca_v
APS_arc3_ca_all
Execute 3-dimension arc interpolation with center, angle, and normal
vector
APS_arc3_ce
APS_arc3_ce_v
APS_arc3_ce_all
Execute 3-dimension arc interpolation with center and end point
Limit: Cannot execute half or full circle interpolation