XPS-Q8 Controller Motion Tutorial
8.1.6 Define Arcs
An arc is defined by specifying the radius R and the sweep angle A (Figure 28).
Figure 28: An arc defined with radius and angle.
Both radius and sweep angles are expressed in double precision floating point numbers.
The sweep angle can range from 10
-14
to 1.797 x 10
308
allowing a definition of arcs
from a fraction of a degree to practically an infinite number of overlapping circles.
8.1.7 Trajectory File Description
The Line-arc trajectory is defined in a file that has to be stored in the
..\public\trajectories folder of the XPS controller. This file must have the following
structure:
The first line sets the “FirstTangent”: Defines the tangent angle for the first
point in case of an arc. This parameter
has no effect if the first element is a
line.
The second line sets the “DiscontinuityAngle”: Defines the maximum allowed angle
of discontinuity.
The third line must be empty for better readability.
The following lines define the Line-arc trajectory: Each line defines an element of
the trajectory.
An element can be a “Line” or an “Arc”:
Line: Define X and Y positions to build a linear segment Line = X, Y.
Arc: Define radius and sweep angle to build an arc of circle Arc = R, A.
8.1.8 Trajectory File Examples
The following is an example of a trajectory file that represents a rectangle with rounded
corners and with the end point equal to the starting point:
Figure 29: Graphical display of the first Line-arc trajectory data file example.
93 XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
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