Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual de usuario descargar pdf (Pagina 51)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-30

By (a3.6)-(a3.7) from Appendix 3.

= ΔX

/ΔY

= (34641-0)/(20000-0) = 1.73205

= ((q

+ X

– X

)*ΔY

–Y

ΔX

)/(q

*ΔY

– ΔX

) =

((1.73205*0 + 40000 –0)*(25000-0) - 0)/( 1.73205*(25000-0) - (130000-40000)) =

-21414X

= X

+ q

– Y

) = X1 = 0 + 1.73205(-21414- 0) = -37090

To get the length of the perpendicular h from the circle center on the line L, line L is needed.

Figure 2-26

standard equation in a form Ax + By + C = 0. For A,B,C we have

A = -(Y

– Y

) = 25000, B = 130000 – 40000 = 90000, C =

C = X

– Y

) - Y

– X

) = 40000(25000-0) = 10

h = (0*25000 + 0*90000 + 10

)/( 25000

+ 90000

)

1/2

= 10706ρ

= [(-37090)

+ (-

21414)

]

1/2

= 42828

= [(-37090 – 34641)

+ -21414– 20000)

]

1/2

=82828

and for maximum switch radius we get

r = hρ

/(ρ

– h) = 10706*82828/(42828– 10706) = 27605

2.3 Circle – circle intersection

Note: C

– first circle arc, C

– second circle arc, P

– point of two circle arcs intersection,

– first circle center point, C

– second circle center point.

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Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual de usuario Pagina 51

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