Galil Motion Control DMC-40x0 Series User Manual

DMC-40x0 Command Reference CR • 73
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 22,000,000 for servo motor operation and between 0 and
6,000,000 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 * Δθ must be limited to +/-4.5 10
8
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 one circle in counterclockwise
direction.
CR 1000,0,360<40000 Generate circle with radius of 1000 counts, start at 0
d
egrees and complete one circle in counterclockwise
VE End Sequence
BGS Start motion

Galil Motion Control DMC-40x0 Series Specifications

General

Brand	Galil Motion Control
Model	DMC-40x0 Series
Category	Controller
Language	English