ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 39)

Motion Library Tutorial Switch Radius Calculation
MAN-MLT (Ver 2.0)
2-18
Figure 2-13
Example 2-14
( Motion Mathematic Lib Samples \Circle to Line\ Section 2_2_1_3\
CircleLine_Ex_2_14 – www.elmomc.com)
The circle C1 (Figure 2-14) is defined by its init point (80000,0), radius R = 80000, init
angle
α
= 0 and a sweep angle
β
= -135. Line target position (-28284, -28284). The length
of the line segment ΔL = 28284*2 1/2
= 40000.
The circle C
1
is defined by the init point (80000,0), radius R = 80000, init angle
α = 0
and a sweep angle β = 135.
Circle target position: Xend = 80000*cos(135) = - 56569, Yend = 80000*sin(-135) = -56569.
The length of the line segment ΔL = [(- 56569 + 28284 )
2
* 2]
1/2
= 40000.
Calculate the upper limit of the switch radius by (3.1.3-3): r = (2RΔL – ΔL
2
)/(2R) =
(2*80000*40000- 40000
2
)/(160000) =30000
Figure 2-14