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I-8091 User Manual Version 1.0 06/2001
http://www.icpdas.com 2-33 ICPDAS
x, y : end point of arc relate to present position.
R : radius of arc.
if R>0 , the arc < 180degree
if R<0 , the arc > 180 degree
dir : moving direction.
0 : CW
1 : CCW
R dir path of curve
R>0 CW 'B'
R>0 CCW 'C'
R<0 CW 'A'
R<0 CCW 'D'
speed : 0~2040
acc_mode: 0: enable acceleration and deceleration profile
1: disable acceleration and deceleration profile
X
Y
(X,Y)
CCW
CW
CW
CCW
'A'
'B'
'C'
'D'
Restriction:
−+≤≤ −21 21
32 32
# x
−+≤≤ −21 21
32 32
# y
−+≤≤ −
≥
+
21 21
2
32 32
22
# R
R
xy