ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 63)

Motion Library Tutorial Switch Radius Calculation
MAN-MLT (Ver 2.0)
2-42
This system is similar to (4.2)
–
(4.4) and comes to the same solution
r = –C
7
/C
6
where
Figure 2-37
C
1
= (X
1
– X
c2
)/R
1
C
2
= (Y
1
– Y
c2
)/R
1
C
3
= X
c2
– X
1
(2.3.2- -9 )
C
4
= Y
c2
– Y
1
C
6
= 2(C
1
C
3
+ C
2
C
4
+ R
2
)
C
7
= (C
3
) 2 + (C
4
) 2 – (R
2
) 2
2.3.3 No circle intersects the internal area of the other
In case the circle C
2
goes outside circle C
1
and circle C
1
doesn’t come from the internal area
of the circle C
2
, restrictions on the switch radius are still possible if a sweep angle of at least
one circle is less than 90
o
.