Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 68)

Publication 2098-PM001E-EN-P — July 2002
2-28 Referencing the Motion Library
long CamHarmonicCycloidal(long master_position, long
follower_position);
Adds a harmonic cycloidal curve to the table. The profile of a
normalized harmonic cycloidal curve is shown in Figure 2.4.
• 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 2.4
Harmonic Cycloidal 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
)