ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 12)

Figure 1-5: Projection on the XZ plane
Example (Motion Mathematic Lib Samples\ Vector_3D \ Helix – www.elmomc.com)
Helix curve built with the use of the spline interpolation.
SetAxisStartPos(a1, 50000) //set coordinate x to 0
SetAxisStartPos(a2, 0) //set coordinate y to 0
SetAxisStartPos(a3, 0) //set coordinate y to 0
v2.vsp = 50000
v2.vse=0
alpha = 0 //start angle degrees
beta = 3600 // sweep angle degrees
R = 50000
H = 250000 // height
X = 50000 // start pos x
Y = 0 // start pos y
Z = 0 // start pos z
n = 120 // num points
Teta = pi*(alpha/180) //radian
dTeta = (pi*(beta/180))/n // teta increment for one step
dZ = H/n //z increment for one step
Xc = X - R*cos(Teta) // X coordinate of the helix axis
Maestro Motion Library Tutorial
MAN-INTUG (Ver. 1.7)
9