- NI-Motion User Manual

Chapter 4 What You Need to Know about Moves
© National Instruments Corporation 4-13 NI-Motion User Manual
NI 73xx Arc Move Limitations
The following are limitations to the velocity and acceleration of arc moves.
Arc moves must use the following equations or an
NIMC_invalidVelocityError is generated:
and
where V = Velocity in counts/s
P = PID sample rate in seconds
I = Arc Interval (10 ms or 20 ms) in seconds
R = Radius in counts
Arc moves must use the following equations or an
NIMC_invalidAccelerationError is generated:
and
where P = PID sample rate in seconds
I = Arc Interval (10 ms or 20 ms) in seconds
R = Radius in counts
A = Acceleration/deceleration in counts/s
2
VP× 4 R≥×
1,677,216
VP
2
× 83,443×()
RI×
-------------------------------------------
16≥≥
AP× 4 R≥×
65,536
AP
3
× 83,443×
RI
2
×
--------------------------------------
1≥≥