Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual do Utilizador descarregar pdf (Página 15)

3. vsc = 2 – ML builds switch arc with the switch radius vsr

(this parameter must be set by the user).

4. vsc = 3 - ML builds a switch arc with the switch radius implicitly pre-defined via parameter

vsd (distance along the line from the intersection point). Parameter vsd must be set by the

user.

For vsc = 2 and vsc = 3, the user can check if the values of the parameters vsr and vsd satisfy

geometric constraints. Such a check can be done with the use of algorithms described in chapter 2 of

this document.

Switch arc building is also influenced by the previous segment end velocity defined by the parameter

(vector property) vse.

1.3.4.1 Examples for the two-dimensional polyline

Example (Motion Mathematic Lib Samples\ Vector_2D \ LineCircle – www.elmomc.com)

v1.vac = 28000000 //max vector acceleration

v1.vdc = 28000000 // max vector deceleration

v1.vum = 1 // build trajectory in max velocity mode

v1.starts() // begin polyline trajectory

v1.vsp = 50000 // max velocity for the line segment

v1.vse = 50000 // end velocity

v1.addline(100000, 100000) // request to add line shape

v1.vse = 0 // end velocity for the circle segment

v1.vsc = 2 // smooth intersection with fixed switch radius

v1.vsr = 10000 // switch radius

v1.addcircle(50000,225,180) //request to add circle arc shape

v1.ends() // ends polyline trajectory

Maestro Motion Library Tutorial

MAN-INTUG (Ver. 1.7)

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