National Instruments NI-Motion

Contents

Chapter 6

Arc Moves

Circular Arcs..................................................................................................................6-1

Arc Move Algorithm.......................................................................................6-3

LabVIEW Code...............................................................................................6-4

C/C++ Code.....................................................................................................6-4

Spherical Arcs................................................................................................................6-7

Algorithm........................................................................................................6-9

LabVIEW Code...............................................................................................6-10

C/C++ Code.....................................................................................................6-10

Helical Arcs...................................................................................................................6-13

Algorithm........................................................................................................6-14

LabVIEW Code...............................................................................................6-15

C/C++ Code.....................................................................................................6-15

Chapter 7

Contoured Moves

Overview........................................................................................................................7-1

Arbitrary Contoured Moves...........................................................................................7-2

Contoured Move Algorithm............................................................................7-3

Absolute versus Relative Contouring...............................................7-4

LabVIEW Code...............................................................................................7-5

C/C++ Code.....................................................................................................7-6

Chapter 8

Reference Moves

Find Reference Move.....................................................................................................8-1

Reference Move Algorithm.............................................................................8-2

LabVIEW Code...............................................................................................8-3

C/C++ Code.....................................................................................................8-3

Chapter 9

Blending Moves

Blending.........................................................................................................................9-1

Superimpose Two Moves................................................................................9-2

Blend after First Move Is Complete................................................................9-3

Blend after Delay.............................................................................................9-4

Blending Algorithm.........................................................................................9-5

LabVIEW Code...............................................................................................9-6

C/C++ Code.....................................................................................................9-7