Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Bedienungsanleitung PDF herunterladen (Seite 35)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-14

Figure

2-8

Example 2-9

(Motion Mathematic Lib Samples\Circle to Line\ Section 2_2_1_2\

CircleLine_Ex_2_9 – www.elmomc.com)

The circle arc (Figure 2-9) is defined by its radius R = 100000, init angle α = 0

and sweep

angle

β = -45

, init point P

(100000, 0). Line target position (-40000, 0).

In this case ρ

= 40000

= 140000 - line (P

) coincide with axis X.

Circle center coordinates

Xc = 100000 - Rcos(0) = 0, Yc = 0 - Rsin(0) 0.

Line init point coordinates X1 = 0 + 100000cos(0 - 45) = 70711, Y1 = 0 + 100000sin(0-

45) = -70711

To calculate the length of perpendicular h dropped from the circle center (Xc,Yc) on the

line, use formulas (a1.6), (a1.4) and (a1.7) from Appendix 1.

k = (Y2-Y1)/(X2-X1)=(0+70711)/(-40000-70711)= -0.6387, q = -1/k = 1.5657

Xpr = (y - Y1 + k*X1 - q*x)/(k - q) = -11589.6, Ypr = y + q*(Xpr - x) = - 18145.7

h= [(-11589.6 - 0)

+ (- 18145.7 - )

]

1/2

= 21531

r = hρ

/(ρ

+ h) = (21531*140000)/( 40000 + 21531) = 48989

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Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Bedienungsanleitung Seite 35