Motion Control Theory
109
AMP-204C / AMP-208C
Relevant commands are described below:
¾
method 1: given center of circle, angle and normal vector
as shown in figure below:
Figure 4-27: Three-dimension arc interpolation (method 1)
This entry method is easy for you to create an arc track without the
restricion of half or full circle. You must ensure the correctness of
normal vector. This controller is default to correct your normal
vector value if necessary.
• Auto Normal Vector Correct:
If the normal vector entered by you is not the orthogonal vector
from center of circle to starting point the controller correct your
entry value automatically by Gram-Schmidt normalization,
Function name
Description
APS_arc3_ca
APS_arc3_ca_v
APS_arc3_ca_all
Execute 3-dimension arc interpolation with center, angle, and normal
vector
APS_arc3_ce
APS_arc3_ce_v
APS_arc3_ce_all
Execute 3-dimension arc interpolation with center and end point
Limit:
Cannot execute half or full circle interpolation
Summary of Contents for AMP-204C
Page 8: ...viii Contents ...
Page 12: ...xii List of Figures ...
Page 14: ...xiv List of Tables ...
Page 52: ...38 Getting Start with The Installation ...
Page 71: ...Signal Connection 57 AMP 204C AMP 208C Signal connection diagram ...
Page 72: ...58 Signal Connection Figure 3 13 General purpose digital I O signal connection example ...
