Galil DMC-2X00 User Manual
Page 257
10000
20000
20000
10000
Y
C
D
B
A
X
Figure A-21 - X-Y Motion Path
The first line describes the straight line vector segment between points A and B. The next segment is a
circular arc, which starts at an angle of 180
° and traverses -90°. Finally, the third line describes the
linear segment between points C and D. Note that the total length of the motion consists of the
segments:
A-B
Linear
10000
units
B-C
Circular
R
Δ
θ π
2
360
= 15708
C-D
Linear
10000
Total
35708
counts
In general, the length of each linear segment is
L
Xk
Yk
k
=
+
2
2
Where Xk and Yk are the changes in X and Y positions along the linear segment. The length of the
circular arc is
L
R
k
k
k
=
ΔΘ 2 360
π
The total travel distance is given by
D
L
k
k
n
=
=
∑
1
The velocity profile may be specified independently in terms of the vector velocity and acceleration.
DMC-2X00
Appendices
y 247