Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Uživatelský manuál stáhnout pdf (Strana 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)

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 ... 62 63 64 65 66 67 68 69 70 71 72 ... 113 114

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