ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 19)

Maestro Motion Library Tutorial
MAN-INTUG (Ver. 1.7)
16
Figure 1-11: Projection on the YZ plane
1.4 Transition to a new trajectory with a non-zero velocity
If a transition from one trajectory to another (for instance from a line to a circle) must be executed
with a velocity not equal to zero at the switch point, the Motion Library builds a switch curve to
achieve smooth modification of the velocity. Such a curve is implemented as a circle arc.
As a geometrical object switch arc is completely defined by:
• radius
r
• coordinates of the two limit points (
X
last
, Y
last
) and (
X
first
, Y
first
)
where (
X
last
, Y
last
) – last point on the first shape
(
X
first
, Y
first
) – first point on the second shape
• center coordinates (
X
o
,Y
o)
The radius
r
of the switch arc can be:
1. Explicitly pre-defined by the user (vsc = 2, vsr defined).
In this case, it must obey the following restriction:
r ≥ (V
end
) 2 /AC
v
(1-1)
where
V
end
- end velocity at the switch point,
AC
v
- vector acceleration.