Syntax
CIRCLE1 Radius, Theta_inc |
Vector CIRCLE segment |
CIRCLE2 Radius, Theta_start |
| Operands | Radius – circle radius |
Theta_start – start angle for circular segment
Theta_inc – angle increment for circular segment
Binary code
| Description | CIRCLE1 and CIRCLE2 define a circular segment for 2D trajectory executed in Vector Mode. Positive values for Theta_inc mean CCW movement while negative values mean CW movement. |
Based on Radius, Theta_inc and Theta_start the TML compiler from EasyMotion Studio computes the actual parameters used by the motion controller to generate the PVT points for slave axes.
If the points are sent from a host then the following relations must be used to compute the actual parameters of the circular segment:
| Example |
// Vector mode – circle with radius 3.14mm. Position feedbacks: 500
// lines incremental encoder
SETMODE 0xCF00; //Clear buffer
VPLANE (A, B, C); //Define coordinate system and tangent axis
RESRATIOX=0u;
RESRATIOY=0u;
NLINESTAN=2000;
MODE VM; // Set Vector Mode
// Circular segment of radius 3.14159[mm], with initial angle 0[deg] and angle increment 360[deg])
CIRCLE1 1L, 360.; CIRCLE2 1L, 0.;
UPD; //Execute immediate
// Insert End Segment
VSEG1 0L, 0L; VSEG2 0L, 0L;