arc

Syntax
arc X-axis-end, Y-axis-end, X-axis-center, Y-axis-center, Direction 

Function
Generates a 2-dimensional circular arc segment. 

Controller Returns

None

Mode
Run, Command  

Example
A = -7071
B = -7071
C = 0
D = 0
E = 1
F = 7071
G = 7071 

sposx 0
sposy 0 

vaccel 10000
vvel 200000 

rem make coordinated linear move to F,G
line F, G
done?

Rem make coordinated circular move to A and B with center at C and D.
arc A, B, C, D, E
done?
end

done? 

Syntax
done? 

Function

Halts the execution of the program until the coordinated motion is completed.  

Controller Returns

None 

Mode

Run

Example

rem Set the vector acceleration

vaccel 10000

rem Set the vector velocity

vvel 200000

C = 10000

D = 20000

E = 10000

F = 19000

G = 1

arc C, D, E, F, G

done?

end

line

Syntax
line X-axis-end, Y-axis-end, Z-axis-end, W-axis-end 

Function

Controller Returns
None

Mode
Run, Command   

A = -7071
B = -7071
C = 0
D = 0
E = 1
F = 7071
G = 7071 

sposx 0
sposy 0

vaccel 10000
vvel 200000 

rem make coordinated linear move to F,G
line F, G
done?

Rem make coordinated circular move to A and B with center at C and D.
arc A, B, C, D, E
done?
end

vaccel

Syntax
vaccel value 

Function

Sets the vector acceleration of the coordinated move to value or variable.

The value may not be modified while moving. The unit of value is in steps per sec².

Range of Value
40,000 - 40,000,000 

Mode
Run, Command

Example

A = -7071
B = -7071
C = 0
D = 0
E = 1
F = 7071
G = 7071
sposx 0
sposy 0
vaccel 10000
vvel 200000 

rem make coordinated linear move to F,G

line F, G
done?
Rem make coordinated circular move to A and B with center at C and D.

arc A, B, C, D, E
done?
end

vvel

Syntax
vvel value 

Function

Sets the vector velocity of the coordinated move to value or variable.

The value may not be modified while moving. The unit of value is in steps / Sec.  

Range of Value

200 – 200,000

Controller Returns
None 

Mode
Run, Command

Example

A = -7071
B = -7071
C = 0
D = 0
E = 1
F = 7071
G = 7071 

sposx 0
sposy 0
vaccel 10000
vvel 200000 

rem make coordinated linear move to F,G
line F, G
done?
Rem make coordinated circular move to A and B with center at C and D.
arc A, B, C, D, E
done?
end