ADLINK AMP-208C - Manual (Page 124)

Motion Control Theory 110
AMP-204C / AMP-208C
Figure 4-28: Defining spatial normal vector
• How to determine arc direction and path of multiple laps
Use the right-hand grip rule as shown in figure below, where the
your thumb indicates normal vector direction and the other four
fingers the positive rotating direction. Enter negative value for
angle parameter to rotate in opposite direction.
Set up angle value directly to execute multiple laps (circles greater
than 360 degrees), e.g. 2 laps = 720 degree.
Figure 4-29: Determining arc direction in space