NI 73xx Arc Move Limitations

The following are limitations to the velocity and acceleration of arc moves.

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