Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Manuale Utente Scaricare il pdf (Pagina 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)

Follower Position (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)

Follower Velocity (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)

Follower Acceleration (dy/dx

2

)

1 2 ... 63 64 65 66 67 68 69 70 71 72 73 ... 113 114

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