ADLINK Technology AMP-204C, User Manual

Page: 126 / 193

Motion Control Theory 112
AMP-204C / AMP-208C
Take example. If
θ
= 30 degree, then
• Example:
Figure 4-31: Three dimension arc interpolation example
4.7.2.2 2D Arc Interpolation
Same as 3D arc, two description methods are provided for 2D arc:
Method 1: given center of circle and angle
method 2: given center of circle and end point
2D arc has the same setup method as the 3D one does. See 3D
arc interpolation for detail
Relevant APS API described below
I32 APS_arc2_ca ();
I32 APS_arc2_ca_v ();
I32 APS_arc2_ca_all ();
I32 APS_arc2_ce ();
I32 APS_arc2_ce_v ();
I32 APS_arc2_ce_all ();
Dir calculation formula Angle (Degree)
0 30 + 0 x 360 30
1 30 + 1 x 360 390
2 30 + 2 x 360 750
-1 30 + (-1) x 360 -330
-2 30 + (-2) x 360 -690
S
E