NI 73xx Arc Move Limitations
The following are limitations to the velocity and acceleration of arc moves.
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Note Round the result of these equations to the nearest integer. |
Arc moves must meet the requirements of the following equations or an NIMC_invalidVelocityError is generated:
V × P × 4 < R
and
where
V = Velocity in counts/s
P = PID sample rate in seconds
I = Coarse Arc Points Interval Period (10 ms or 20 ms) in seconds, configured in MAX
R = Radius in counts
Arc moves must meet the requirements of the following equations or an NIMC_invalidAccelerationError is generated:
A × P × 4 < R
and
where
A = Acceleration/deceleration in counts/s2
P = PID sample rate in seconds
I = Coarse Arc Points Interval Period (10 ms or 20 ms) in seconds, configured in MAX
R = Radius in counts