Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Uživatelský manuál stáhnout pdf (Strana 70)

Publication 2098-PM001E-EN-P — July 2002

2-30 Referencing the Motion Library

long CamModifiedSinusoidal(long master_position,long

follower_position);

Adds a modified sinusoidal curve to the table. The profile of a

normalized modified sinusoidal curve is shown in Figure 2.5.

• 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 2.5

Modified Sinusoidal 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 ... 65 66 67 68 69 70 71 72 73 74 75 ... 113 114

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