Optima DMC-1xxx and DMC-18x2 Command Reference
CR
i
56
CR
FUNCTION: Circle
DESCRIPTION:
The CR command specifies a 2-dimensional arc segment of radius, r, starting at angle,
, and
traversing over angle
. A positive denotes counterclockwise traverse, negative
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,
, , must be
specified. Radius units are in quadrature counts.
and have units of degrees. The
parameter n is optional and describes the vector speed that is attached to the motion
segment.
ARGUMENTS: CR r,
, < n > o
where
r is an unsigned real number in the range 10 to 6000000 decimal (radius)
a signed number in the range 0 to +/-32000 decimal (starting angle in degrees)
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 *
must be limited to +/-4.5 108
USAGE: DEFAULTS:
While Moving
Yes
Default Value
-
In a Program
Yes
Default Format
-
Command Line
Yes
Controller Usage
ALL CONTROLLERS
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:
VMAB
Specify vector motion in the A and B 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
one circle in counterclockwise direction and use a vector speed of 40000.
VE End
Sequence
BGS Start
motion
