Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Manual do Utilizador descarregar pdf (Página 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)

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 ... 60 61 62 63 64 65 66 67 68 69 70 ... 113 114

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