Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Uživatelský manuál stáhnout pdf (Strana 58)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-37

+ (2C

)r + C

+ r

+ (2C

)r + C

= r

+ (2R

)r + R

(2.3.1-37)

+ C

– 1) + 2[C

+ C

– R

]r + (C

+ C

– R

) = 0

(2.3.1-38)

But

+ C

= [(X

– X

)

+ (Y

– Y

)

]/R

= 1 (2.3.1-39)

So (4.1-38) transforms into

+ C

= 0 (2.3.1-40)

where

= 2[C

+ C

– R

] (2.3.1-41)

and

= C

+ C

– R

(2.3.1-42)

So the an upper limit estimation for r is:

r = – C

/ C

(2.3.1-29)

Another case when the line O

does not intersect circle arc C

is shown in the Figure 2-

32. Draw a line O

from the center of the circle C

to its end point. If noticing that d =

ρ(O

), the switch arc radius r is:

– X

)/(X

– X

) = r/d (2.3.1-30)

– Y

)/(Y

– Y

) = r/d (2.3.1-31)

– X

)

+ (Y

– Y

)

= (R

+ r)

(2.3.1-32)

From (2.3.1-30)

d – X

d = r(X

– X

)

= X

– r(X

– X

)/d = X

+ r(X

– X

)/d

= X

+ C

r (2.3.1-33)

From (2.3.1-31)

d – Y

d = r(Y

– Y

)

= Y

– r(Y

– Y

)/d = Y

+ r(Y

– Y

)/d

= Y

+ C

r (2.3.1-34)

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