DMC-1400 Series Command Reference CR ● 61
CR FUNCTION: Circle
DESCRIPTION:
The CR command specifies a 2-dimensional arc segment of radius, r, starting at angle, θ, and
traversing over angle ∆θ. A positive ∆θ denotes counterclockwise traverse, negative ∆θ
denotes clockwise. The VE command must be used to denote the end of the motion sequence
after all CR and VP segments are specified. The BG (Begin Sequence) command is used to
start the motion sequence. All parameters, r, θ, ∆θ, must be specified. Radius units are in
quadrature counts. θ and ∆θ have units of degrees. The parameter n is optional and
describes the vector speed that is attached to the motion segment.
ARGUMENTS: CR r, θ, ∆θ < n > o where
r is an unsigned real number in the range 10 to 6000000 decimal (radius)
θ a signed number in the range 0 to +/-32000 decimal (starting angle in degrees)
∆θ is a signed real number in the range 0.0001 to +/-32000 decimal (angle in degrees)
n specifies a vector speed to be taken into effect at the execution of the vector segment. n is an
unsigned even integer between 0 and 12,000,000 for servo motor operation and between 0 and
3,000,000 for stepper motors.
o specifies a vector speed to be achieved at the end of the vector segment. o is an unsigned
even integer between 0 and 8,000,000.
Note: The product r * ∆θ must be limited to +/-4.5 108
USAGE:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage ALL
RELATED COMMANDS:
VP Vector Position
VS Vector Speed
VD Vector Deceleration
VA Vector Acceleration
VM Vector Mode
VE End Vector
BG BGS - Begin Sequence
EXAMPLES:
VMXY Specify vector motion in the X and Y plane
VS 10000 Specify vector speed
CR 1000,0,360 Generate circle with radius of 1000 counts, start at 0 degrees and complete
CR 1000,0,360 < 40000 Generate circle with radius of 1000 counts, start at 0 degrees and complete
VE End Sequence
BGS Start motion