Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual de usuario descargar pdf (Pagina 43)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-22

Figure

2-18

so an equation can be written

(R – r)

– (ρ

– r)

= (ρ

)

(2.2.2.1.2-2)

that produces for

r = [R

– (ρ

)

– (ρ

)

]/(2R – 2ρ

) (2.2.2.1.2-3)

2.2.2.2 Initial circle center and switch arc center belong to two

half planes defined by the line L.

2.2.2.2.1 Line continues outside the circle (Figure 2-19)

In this case

= ρ[(X

),(Xi,Yi)] + d

(2.2.2.2.1-1)

Equation for r

(ρ

+ r)

= (R + r)

– (ρ

)

(2.2.2.2.1-2)

From (2.2.2.2.1-2) we have

r = [(ρ

)

+ (ρ

)

– R

]/(2R – 2ρ

) (2.2.2.2.1-3)

2.2.2.2.2 Line continues inside the circle (Figure 2-20)

= ρ[(X

),(Xi,Yi)] – d (2.2.2.2.2-1)

Equation for r

(R – r)

– (ρ

)

= (ρ

+ r)

(2.2.2.2.2-2)

1 2 ... 38 39 40 41 42 43 44 45 46 47 48 ... 71 72

Motion Control 1
Contents 3
1.1 Introduction 4
1.2 Vector properties 4
< vsp 5
ΔT = 0.5(vxt + vnt) 5
1.3.1 Line 6
1.3.2 Circle 6
1.3.3 Spline 6
a = 100000 8
MAN-INTUG (Ver. 1.7) 10
1.3.4 Polyline 13
17
MAN-MLT (Ver 2.0) 22
r = ρ 33
) and an 34
)/(2R) = 39
β = 135 39
2-16 41
2-19 44
. The length of h 47
Figure 2-25b 49
(2.2.3.2-1) 49
(2.2.3.2-1) 49
(2.2.3.2-1) 49
Figure 2-25 50
Example 2-27 50
Figure 2-28 52
Maestro Software Manual 67
MAN-MLT(Ver. 2.0) 68
MAN-MLT (Ver. 2.0) 71

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Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual de usuario Pagina 43

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