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