Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual do Utilizador descarregar pdf (Página 33)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-12

= 100000 - |C/B| = 100000 - |(-3464101600.0)/(-90000)| = 61509.98222

r = ρ

/(ρ

+ ρ

) = 61509.98*44322.66/(61509.98 + 44322.66)= 25760.351

meaning that the switch radius in use must be less than this limiting value.

Figure 2-6

Values calculated by (2.2.1.1-7) and (2.2.1.1-10) are not recommended but limiting values.

The switch radius in use must be less those values.

Such limiting values produce irregular cases of intersection. If we use (2.2.1.1-7) switch arc

replaces line L and if we use (2.2.1.1-9) switch arc replaces initial arc C.

2.2.1.2Switch arc center and a circle center belong to the same

half plane.

In this case (Figure 2-7), the switch radius must satisfy the following condition:

r ≤ (R + h)/2 (2.2.1.2-1)

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Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual do Utilizador Página 33