Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Instrukcja Użytkownika Pobierz pdf (Strona 29)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-8

Yp = Yc + K*(Xp – Xc) = 0 +0.7*(-46979 - 0) = -32885

And the perpendicular length

h = [(Xc – Xp)

+ (Yc - Yp)

]

1/2

= [(0 + 46979)

+ (0 + 32885)

]

1/2

= 57345

Max switch radius calculated by (2.2.1.1-1)

Rmax = (R – h)/2 = (100000 – 57345)/2 = 21328

Rmin = 100000

/(2800000*0.9) = 396.8

As a switch radius we can take any value Rswitch that satisfies

Rmin < Rswitch < Rmax

We take Rswitch = (Rmin + Rmax)/2 = (21328 + 396.8)/2 = 10862

In Figures 2-3 and 2-5, two possible cases are presented when the projection of the circle

center on the line

L does not belong to the line segment.

In Figure 2-3, perpendicular at the Line

L end point P

intersects with the circle C at point

that belongs to the circle arc P

∈

C. In Figure 2-3, observe the switch arc with the

maximum possible radius

r. This limit value can be calculated.

Figure

2-3

Since the coordinates of point

) – projection of the circle center point

O(X

) on line L and line end point P

) are known, the distance is

ρ(P

) = u = [(X

– X

)

+ (Y

– Y

)

]

1/2

(2.2.1.1-2)

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