Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 71)

Publication 2098-PM001E-EN-P — July 2002
Referencing the Motion Library 2-31
long CamModifiedTrapezoidal(long master_position,long
follower_position);
Adds a modified trapezoidal curve to the table. The profile of a
normalized modified trapezoidal curve is shown in Figure 2.6.
• The master_position argument defines the master position at the
end of the curve.
• The follower_position 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 five free segments.
Figure 2.6
Modified Trapezoidal 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
)