ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 56)

Motion Library Tutorial Switch Radius Calculation
MAN-MLT (Ver 2.0)
2-35
(X2 + 65000) 2 + (– 35000) 2 = 100000 2 that produces X2 = -158675.
d = |X2 – X1| = 118675;
C1 = -1.0
C2 = 0
C3 = 25000
C4 = -35000
C6 = 150000
C7 = -8150000000
r = 54333.3333
Figure 2-30
Figure 2-31 shows when the line connecting circle C
1
init point (X
1
,Y
1
) and its center
point do not intersect circle C
2
. To define the maximum value of the switch radius r, use
the following system of equations:
(X
o
– X
1
)/(X
c1
– X
1
) = r/R
1
(2.3.1-27)
(Y
o
– Y
1
)/(Y
c1
– Y
1
) = r/R
1
(2.3.1-28)
(X
o
– X
c2
) 2 + (Y
o
– Y
c2
) 2 = (r + R) 2
(2.3.1-29)