Ni 73Xx Arc Move Limitations - National Instruments NI-Motion User Manual

NI 73xx Arc Move Limitations

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The following are limitations to the velocity and acceleration of arc moves.
Arc moves must use the following equations or an
NIMC_invalidVelocityError
and
1,677,216
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
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
Chapter 4
is generated:
× × ≥
V P 4 R
2
( × ×
V P 83,443
≥
------------------------------------------ -
×
R I
is generated:
× × ≥
A P 4 R
3
× ×
A P 83,443
≥
65,536
------------------------------------- -
2
×
R I
4-13
What You Need to Know about Moves
)
≥
16
≥
1
2
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