ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 37)

Motion Library Tutorial Switch Radius Calculation
MAN-MLT (Ver 2.0)
2-16
Figure 2-10
Example 2-11
( Motion Mathematic Lib Samples \Circle to Line\ Section 2_2_1_2\
CircleLine_Ex_2_11 – www.elmomc.com)
Circle arc (Figure 2-11) is defined by its init position ( X = 0, Y = 60000), radius R = 60000,
init angle
α = 0 o , and a sweep angle
β = -135 o
. Line target position 25000, -42426.
Circle center coordinates (Xc, Yc) = (0 – Rcos90, 60000 – Rsin90) = (0,0). Circle end
point coordinates (Xc + Rcos(-45
o
), Yc + Rsin(-45
o
) = (42426, - 42426). Notice that
line L is parallel to the axis X meaning that h = |0 - 42426 | = 42426, ρ =|25000 - 0|
=25000 and r can be calculated by
(3.1.2-8): r = (60000*60000 – 25000*25000 – 42426*42426)/(2*60000 – 2*42426) =
33430
Figure 2-11