Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Instrukcja Użytkownika Pobierz pdf (Strona 19)

Maestro Motion Library Tutorial

MAN-INTUG (Ver. 1.7)

Figure 1-11: Projection on the YZ plane

1.4 Transition to a new trajectory with a non-zero velocity

If a transition from one trajectory to another (for instance from a line to a circle) must be executed

with a velocity not equal to zero at the switch point, the Motion Library builds a switch curve to

achieve smooth modification of the velocity. Such a curve is implemented as a circle arc.

As a geometrical object switch arc is completely defined by:

• radius

• coordinates of the two limit points (

last

, Y

last

) and (X

first

, Y

first

)

where (

last

, Y

last

) – last point on the first shape

(

first

, Y

first

) – first point on the second shape

• center coordinates (X

)

The radius

r of the switch arc can be:

1. Explicitly pre-defined by the user (vsc = 2, vsr defined).

In this case, it must obey the following restriction:

r ≥ (V

end

)

/AC

(1-1)

where

end

- end velocity at the switch point,

vector acceleration.

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