Automative infinte circular motion of Aerotech Ensemble Motion Controller (5.06.000) via MATLAB

I'm trying to move a stage with an Aerotech Ensemble Motion Controller (v5.06.000) via MATLAB, but instead of a full circular motion I only get multiple arc trajectories in one direction.

Does anyone have experience with this controller?

clear; clc; close all;

arch = computer('arch');
if strcmp(arch,'win32')
    addpath('C:\Program Files (x86)\Aerotech\Ensemble\Matlab\x86');
else
    addpath('C:\Program Files (x86)\Aerotech\Ensemble\Matlab\x64');
end

X = 0;
Y = 1;

disp('Connecting...');
h = EnsembleConnect;

EnsembleMotionEnable(h, X);
EnsembleMotionEnable(h, Y);

EnsembleMotionFaultAck(h, X);
EnsembleMotionFaultAck(h, Y);

% ====== USER PARAMETERS ======
R = 10;      % mm
Speed = 1;   % mm/s

% ====== CURRENT POSITION (this will become top of circle) ======
startX = EnsembleStatusGetItem(h, X, EnsembleStatusItem.PositionFeedback);
startY = EnsembleStatusGetItem(h, Y, EnsembleStatusItem.PositionFeedback);

% ====== BREAK BUTTON ======
DlgH = figure('Position',[800 500 200 120]);
H = uicontrol('Style','PushButton', ...
              'String','Break', ...
              'FontSize',16, ...
              'FontWeight','bold', ...
              'Position',[20 20 160 60], ...
              'Callback','delete(gcbf)');

disp('Continuous circular motion started...');

while ishandle(H)
    
    EnsembleMotionCWRadius(h, X, startX, Y, startY, R, Speed);
        EnsembleMotionWaitMode(h, 1);

end

EnsembleMotionHalt(h);
EnsembleDisconnect();

[Ayush]

Hi,

The repeated "EnsembleMotionCWRadius" command seems to be sending the same arc move each time, so the stage only traces multiple arcs in one direction instead of a full circle. To achieve continuous circular motion, you might need to update the arc endpoints or use a different approach.