Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Instrukcja Użytkownika Pobierz pdf (Strona 46)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-25

1. Circle init radius intersects with the line L continued in its positive direction

(Figure 2-23);

2. Line

L is parallel to the init radius (Figure 2-25);

3. Line

L continued in the reverse direction intersects init radius (Figure 2-26) (by

the init radius there a line segment that connects the circle arc center with the

circle arc init point).

2.2.3.1 Line L and init radius continued in their positive

intersecting directions

The init circle radius continuing in its positive direction intersects with the line L continued

in its positive direction (Figure 2-23). It takes place if the circle arc init angle with the axis

positive direction

α is less than the line L angle with the axis X positive direction φ and the

circle arc sweep angle

β < 0 (β < 0, α < φ) or in case: β > 0, α > φ.

Figure

2-23

Drop a perpendicular from the circle center

on the line L. Its length h can be

calculated by (2.2.1.1-4). Now calculate the angle

γ = arccos(h/R), where R – circle

arc radius. The circle arc sweep angle

θ so λ = θ + γ = θ + arccos(h/R).

Now calculate the distance

d = ρ(O

, P

) = h/cos(λ) (2.2.3.1-1)

To define the switch radius r, use a proportion

r/h = (d – R – r)/d (2.2.3.1-2)

1 2 ... 41 42 43 44 45 46 47 48 49 50 51 ... 71 72

Brak uwag

Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Instrukcja Użytkownika Strona 46