Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual do Utilizador descarregar pdf (Página 63)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-42

This system is similar to (4.2) – (4.4) and comes to the same solution r = –C

where

Figure 2-37

= (X

– X

)/R

= (Y

– Y

)/R

= X

– X

(2.3.2--9)

= Y

– Y

= 2(C

+ C

+ R

)

= (C

)

+ (C

)

– (R

)

2.3.3 No circle intersects the internal area of the other

In case the circle C

goes outside circle C

and circle C

doesn’t come from the internal area

of the circle

, restrictions on the switch radius are still possible if a sweep angle of at least

one circle is less than

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Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual do Utilizador Página 63