Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 65)

Publication 2098-PM001E-EN-P — July 2002
Referencing the Motion Library 2-25
long CamCycloidalHarmonic(long master_position, long
follower_position);
Adds a cycloidal harmonic curve to the table. The profile of a
normalized cycloidal harmonic curve is shown in Figure 2.2.
• The master_position argument defines the master position at the
end of the curve.
• The follower_position argument defines the follower position at the
end of the curve.
Returns 0 if successful, or -1 if there was an error.
This function requires three free segments.
Figure 2.2
Cycloidal Harmonic Curve
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
0.000 0.125 0.250 0.375 0.500 0.625 0.750 0.875 1.000
Master Position (dx)
Fo
llo
w
e
r
P
o
s itio
n
(d
y
)
0.0
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
1.8
2.0
0.000 0.125 0.250 0.375 0.500 0.625 0.750 0.875 1.000
Master Position (dx)
F
o
ll o
w
e r
V
el
oci
ty
(dy/
d
x)
-8.0
-6.0
-4.0
-2.0
0.0
2.0
4.0
6.0
8.0
0.000 0.125 0.250 0.375 0.500 0.625 0.750 0.875 1.000
Master Position (dx)
F
o ll
o
we
r
A
c
c e
le
ra
ti
o
n
(d
y
/d
x 2
)