cff
cff
cmdf
cmdf
c
c
cc
yaxisry
xaxisrx
axis
axis
axis
axis
xx
yy
a
yyxxr
+∗=
+∗=
+=
+=
−=
=
−
−
=
−+−=
])3#[cos(
])2#[cos(
]3#[
]2#[
2
]3#[
]2#[
)(
)(
2tan
)()(
0
0
0
0
0
0
2
0
2
0
θ
θ
θθθ
θθθ
π
θθ
θθ
θ
where: X
0
and Y
0
represent initial position of the group.
X
c
and Y
c
represent desired center position of the circular
move.
X
f
and Y
f
represent calculated final position of the group.
R is radius of the circle.
θ
0
is the base initial angle of an axis.
θ
0
is the final angle of an axis, which is dependant on the
sweep angle,
θ
cmd
Both
HL and HC can initiate the desired motion if they are received
while the group is holding position. On the other hand, if they are
received while a group move is in progress, the new commands get
queued into a "via-point" buffer. The queued commands are executed
on a FIFO basis when the move already in progress has reached its
destination. The group does not come to a stop at the end of last
move. Instead, there will be s smooth transition to the new move
command, just as if it were one compound move (combination of
multiple moves). The next section details the procedure for making
contours or "long" moves using "via-point" buffers.
Refer to the description of
HL and HC commands in the commands
section (See Section 3: Remote Mode) for correct syntax, parameter
ranges, etc.
4.1.4 Making Contours
This subsection discusses the method for making contours.
Contouring is the process of making complex trajectories or "long"
moves that may involve linear and circular move segments.
4-4 Section 4 – Advanced Capabilities
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