DMC-100/1500 Command Reference
CR
•
31
DMC-1000
DMC-1500
CR
FUNCTION:
Circle
DESCRIPTION:
The CR command specifies a 2-dimensional arc segment of radius, r, starting at angle,
θ
, and
traversing over angle
Δθ
. A positive
Δθ
denotes counterclockwise traverse, negative
Δθ
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
,
Δθ
, must be
specified. Radius units are in quadrature counts.
θ
and
Δθ
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
,
Δθ
< 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)
Δθ
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 8,000,000 for servo motor operation and
between 0 and 2,000,000 for stepper motors.
o is not valid for DMC-1000 and DMC-1500 controllers.
Note:
The product r *
Δθ
must be limited to +/-4.5 108
USAGE: DEFAULTS:
While Moving
Yes
Default Value
-
In a Program
Yes
Default Format
-
Command Line
Yes
Can be Interrogated
No
Used as an Operand
No
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
one circle in counterclockwise direction.
