Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Instrukcja Użytkownika Pobierz pdf (Strona 53)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-32

(X

o

– X

c2

)

2

+ (Y

o

– Y

c2

)

2

= (R

2

– r)

2

(2.3.1-4)

From (4.1-2)

X

o

d – X

1

d = r(X

2

– X

1

)

and for X

o

X

o

= r[(X

2

– X

1

)/d]

+ X

1

= rC

1

+ X

1

(2.3.1-5)

From (4.1-3)

Y

o

d – Y

1

d = r(Y

2

– Y

1

)

and for Y

o

Y

o

= r[(Y

2

– Y

1

)/d]

+ Y

1

= rC

2

+ Y

1

(2.3.1-6)

Substituting (4.5) and (4.6) into (4.4)

[rC

1

+ X

1

– X

c2

]

2

+ [rC

2

+ Y

1

– Y

c2

]

2

= (R

2

– r)

2

(2.3.1-7)

or

[rC

1

+ C

3

]

2

+ [rC

2

+ C

4

]

2

= (R

2

– r)

2

(2.3.1-8)

(C

1

)

2

r

2

+ (2C

1

C

3

)r + (C

3

)

2

+ (C

2

)

2

r

2

+ (2C

2

C

4

)r + (C

4

)

2

=

(R

2

)

2

– 2R

2

r + r

2

(2.3.1-9)

Figure 2-29

r

2

[(C

1

)

2

+(C

2

)

2

– 1] + r[2C

1

C

3

+2C

2

C

4

+ 2R

2

] + (C

3

)

2

+(C

4

)

2

–(R

2

)

2

= 0

(2.3.1-10)

But when considering

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