National Instruments NI-Motion - Manual (Page 54)

Chapter 4 What You Need to Know about Moves
© National Instruments Corporation 4-13 NI-Motion User Manual
NI 73xx Arc Move Limitations
The following are limitations to the velocity and acceleration of arc moves.
Arc moves must use the following equations or an
NIMC_invalidVelocityError is generated:
and
where V = Velocity in counts/s
P = PID sample rate in seconds
I = Arc Interval (10 ms or 20 ms) in seconds
R = Radius in counts
Arc moves must use the following equations or an
NIMC_invalidAccelerationError is generated:
and
where P = PID sample rate in seconds
I = Arc Interval (10 ms or 20 ms) in seconds
R = Radius in counts
A = Acceleration/deceleration in counts/s 2
V P × 4 R ≥ ×
1,677,216
V P
2 Ч 83,443 Ч ( )
R I ×
------------------------------------------- 16 ≥ ≥
A P × 4 R ≥ ×
65,536
A P
3 Ч 83,443 Ч
R I
2 Ч
-------------------------------------- 1 ≥ ≥