R = ρ, R ≤ (r + h)/2 – ElmoMC Multi-Axis Motion Controller-Maestro Motion Control User Manual

Page 33

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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)

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