Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 67)

Publication 2098-PM001E-EN-P — July 2002
Referencing the Motion Library 2-27
long CamHarmonic(long master_position,long follower_position);
Adds a harmonic curve to the table. The profile of a normalized
harmonic curve is shown in Figure 2.3.
• 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 one free segment.
Figure 2.3
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)
F
o
llow
e
r
P
osit
ion
(dy)
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)
Follow
e
r
V
eloc
ity
(dy
/dx
)
-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
llow
e
r
A
cceler
a
ti
on
(d
y/
dx
2
)