Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Instrukcja Użytkownika Pobierz pdf (Strona 36)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-15

Figure

2-9

Projection of the circle arc init point

on the line L does not belong to the line segment L.

If a projection of the circle arc init point P

on the line L does not belong to the line

segment

L (Figure 2-10), calculate the maximum switch radius r using equation

) + (r – h)

= (R – r)

(2.2.1.2-4)

(ρ

)

+ (r – h)

= (R – r)

(2.2.1.2-5)

(ρ

)

+ r

– 2rh + h

= R

– 2Rr + r

(2.2.1.2-6)

– (ρ

)

– h

= 2Rr – 2rh (2.2.1.2-7)

The results for

= [R

– (ρ

)

– h

]/(2R – 2h) (2.2.1.2-8)

To define

ρ(O

), drop a perpendicular from the circle center O

on the line L. The

distance from

the projection point P

to the line end point P

is equal to ρ(O

As well as in case when the circle and switch arc centers belong to different half planes

values calculated by (2.2.1.2-3) and (2.2.1.2-8) are not recommended but limiting ones.

Switch radius in use must be less those values.

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