ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 62)

Motion Library Tutorial Switch Radius Calculation
MAN-MLT (Ver 2.0)
2-41
C
1
= (X
1
– X
c2
)/R
2
= -0.866025
C
2
= (Y
1
– Y
c2
)/R
2
= -0.5
C
3
= X
c1
– X
1
= -13397.459622
C
4
= Y
c1
– Y
1
= -50000
C
6
= 2(C
1
C
3
+ C
2
C
4
+ R
1
) = 273205.080767
C
7
= (C
3
) 2 + (C
4
) 2 – (R
1
) 2 = –7320508075.6888
r = -C7/C6 = 26794.919242
The switch radius in use must be less this value.
Figure 2-36
Line
O
1
O
2
does not intersect at least one of the circle segments (Figure 2-37)
Another case when the line
O
1
O
2
does not intersect at least one of the circle segments. In
Figure 2-37 line
(X
c1
, Y
c1
) – (X
c2
, Y
c2
)
connecting two circle centers does not intersect circle
arc
C
1
. Draw a line
O
1
P
1
between the circle
C
1
center and its start point
P
1
(X
1
,Y
1
).
Center
(X
o
, Y
o
)
of the switch arc with maximum radius must belong to this line. To define maximum
radius
r,
use the same system as in previous cases:
(X
1
– X
o
)/(X
1
– X
c1
) = r/R
1
(2.3.2 -6 )
(Y
1
– Y
o
)/(Y
1
– Y
c1
) = r/R
1
(2.3.2 -7 )
(X
o
– X
c2
) 2 + (Y
o
– Y
c2
) 2 = (R
2
– r) 2 (2.3.2 -8 )