Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Bedienungsanleitung PDF herunterladen (Seite 56)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-35

(X2 + 65000)

+ (– 35000)

= 100000

that produces X2 = -158675.

d = |X2 – X1| = 118675;

C1 = -1.0

C2 = 0

C3 = 25000

C4 = -35000

C6 = 150000

C7 = -8150000000

r = 54333.3333

Figure 2-30

Figure 2-31 shows when the line connecting circle C

init point (X

) and its center

point do not intersect circle C

. To define the maximum value of the switch radius r, use

the following system of equations:

– X

)/(X

– X

) = r/R

(2.3.1-27)

– Y

)/(Y

– Y

) = r/R

(2.3.1-28)

– X

)

+ (Y

– Y

)

= (r + R)

(2.3.1-29)

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Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Bedienungsanleitung Seite 56