According to the mathematical equations listed below, rotation angle can be calculated precisely.

Date Calculate：

X1 Axis：δX1= tanθ * (Y-X1y)+X1x  * (-1+1/cosθ)+X

X2 Axis：δX2= tanθ * (Y-X2y)+X2x  * (-1+1/cosθ)+X

Y   Axis：δY  = tanθ * (Yx+Yy * sinθ-X) +Yy * (cosθ-1)+Y

δX1：X1  Axis relative movement (mm) ｝

δX2：X2 Axis relative movement (mm) ｝(movement driven by ball screw)

δY ：Y Axis relative movement (mm)    ｝

X1x、X1y：Coordinate position of pivot on  X1 Axis

X2x、X2y：Coordinate position of  pivot on  X2 Axis

Yx  、Yy  ：Coordinate position of  pivot on  Y Axis

X  ：X Axis movement

Y  ：Y Axis movement

θ：θAxis movement