Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual de usuario descargar pdf (Pagina 49)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-28

Figure 2-25b

Maximum switch radius is perpendicular to the line L at the line end point. h – the length of

the perpendicular dropped from the circle center on the line. We can calculate an angle

between the perpendicular at the line end point and the line that connect the centers of the

init circle and a switch arc

γ = 180 – 90 – (180 – θ) = θ – 90 (2.2.3.2-1)

To define max switch radius we can use an equation

(R + r)cosγ = r + h (2.2.3.2-1)

that produces

r = (Rcosγ – h)/(1 – cosγ) (2.2.3.2-1)

2.2.3.3 Line L and init radius continued in their reverse

directions intersect

This case is shown in Figure 2-26.

1. Find the coordinates

) – intersection point of two lines init circle radius

) and a line L.

2. Knowing the coordinates of circle arc center

) and intersection point

) makes ρ

ρ(P

) = [(X

- X

)

+ (Y

- Y

)

]

1/2

known.

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Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual de usuario Pagina 49