Arc Motion Center and Angle

The arc motion command can be used to move an XBot in an arc path, the arc is defined by the arc center location, the rotation angle, and the rotation direction (clockwise or counterclockwise).

Open

Fieldbus Interface 

PMC_ArcMotionCenter

Ethernet Interface 

MotionRtn ArcMotionMetersDegrees(ushort cmdLabel, int xbotID, ARCMODE arcMode, ARCTYPE arcType, ARCDIRECTION arcDir, POSITIONMODE positionMode, double XMeters, double YMeters, double finalSpeedMetersPs, double maxSpeedMetersPs, double maxAccelerationMetersPs2, double radiusMeters, double angleRadians)

Conditions

Description

Open

The arc motion command can be used to move an XBot in an arc path, the arc is defined by the arc center location, the rotation angle, and the rotation direction (clockwise or counterclockwise).

• The target or center position can be specified either in absolute coordinates or relative coordinates. Relative coordinates are relative to the reference position of the XBot when the command begins execution.

• Only the X- and Y-positions (also called the long axis) are controlled by this command. The Z-, Rx-, Ry-, and Rz-positions are maintained during this motion command.

• The maximum speed and ending speed must be specified. Similar to linear motion, the input maximum speed will be automatically constrained if it is below or above the system limits and the ending speed will be limited if the travel distance is too short

• The ending speed and maximum speed are also limited by both the tangential and the normal acceleration for the arc. The speeds may be automatically adjusted to a lower value if required so that the accelerations do not exceed their limits.