ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 33)

Motion Library Tutorial Switch Radius Calculation
MAN-MLT (Ver 2.0)
2-12
ρ
1 = 100000 - |C/B | = 100000 - |(-
3464101600.0)/ (
- 90000)| = 61509.98222
r = ρ
1
ρ
2
/(ρ
1
+ ρ
2
) =
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)