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

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 ... 66 67 68 69 70 71 72 73 74 75 76 ... 113 114

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