Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual de usuario descargar pdf (Pagina 28)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-7

Figure

2-2

Example 2-2

(Motion Mathematic Lib Samples\Circle to Line\ Section 2_2_1_1\

CircleLine_Ex_2_2 – www.elmomc.com)

Circle arc is defined by its init position X

from

= 0, Y

from

= 100000, radius R = 100000, init

angle α = 90

(with axis X positive direction), and sweep angle = 180

. Line end point X

= -140000, Y

= 100000.

Circle center coordinates

Xc = X

from

– Rcos(απ/180) = 0 – 100000cos(π/2) = 0

Yc = Y

from

– Rsin(απ/180) = 100000 – 100000sin(π/2) = 0

Circle end points

= Xc + Rcos(α + β) = 0 + 100000cos(π/2 + π) = 0

= Yc + Rcos(α + β) = 0 + 100000sin(π/2 + π) = -100000

Projection of the circle center on the line (Appendix )

= (Y

– Y

)/(X

– X

) = (100000+100000)/(-140000-0)=-1.4286

K = -1/K

= 0.7

Xp=(Yc – Y

+ K

- KXc)/(K

- K) =

(0+100000 + 0.7*0 +1.4286*0))/(-1.4286 - 0.7) = -46979

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Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual de usuario Pagina 28