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Contents
© National Instruments Corporation vii NI-Motion User Manual
Chapter 6
Arc Moves
Circular Arcs..................................................................................................................6-1
Arc Move Algorithm.......................................................................................6-3
LabVIEW Code...............................................................................................6-4
C/C++ Code.....................................................................................................6-4
Spherical Arcs................................................................................................................6-7
Algorithm ........................................................................................................6-9
LabVIEW Code...............................................................................................6-10
C/C++ Code.....................................................................................................6-10
Helical Arcs ...................................................................................................................6-13
Algorithm ........................................................................................................6-14
LabVIEW Code...............................................................................................6-15
C/C++ Code.....................................................................................................6-15
Chapter 7
Contoured Moves
Overview........................................................................................................................7-1
Arbitrary Contoured Moves...........................................................................................7-2
Contoured Move Algorithm............................................................................7-3
Absolute versus Relative Contouring ...............................................7-4
LabVIEW Code...............................................................................................7-5
C/C++ Code.....................................................................................................7-6
Chapter 8
Reference Moves
Find Reference Move.....................................................................................................8-1
Reference Move Algorithm.............................................................................8-2
LabVIEW Code...............................................................................................8-3
C/C++ Code.....................................................................................................8-3
Chapter 9
Blending Moves
Blending.........................................................................................................................9-1
Superimpose Two Moves................................................................................9-2
Blend after First Move Is Complete................................................................9-3
Blend after Delay.............................................................................................9-4
Blending Algorithm.........................................................................................9-5
LabVIEW Code...............................................................................................9-6
C/C++ Code.....................................................................................................9-7