Galil DMC-2X00 - Manual (Page 258)

For example, the velocity profile corresponding to the path of Fig. A-21 may be specified in terms of
the vector speed and acceleration.
VS 100000
VA 2000000
The resulting vector velocity is shown in Fig. A-22.
0.05 0.357
10000
Velocity
time (s)
0.407 T
a
T
a
T
s
Figure A-22 - Vector Velocity Profile
The acceleration time, Ta, is given by
T
VS
VA
s
a
= = =
100000
2000000
0 05 .
The slew time, Ts, is given by
The total motion time, Tt, is given by
T
D
VS
T s
t a
= + = 0 407 .
The velocities along the X and Y axes are such that the direction of motion follows the specified path,
yet the vector velocity fits the vector speed and acceleration requirements.
For example, the velocities along the X and Y axes for the path shown in Fig. A-21 are given in Fig.
A-23.
Fig. A-23a shows the vector velocity. It also indicates the position point along the path starting at A
and ending at D. Between the points A and B, the motion is along the Y axis. Therefore,
Vy = Vs
and
Vx = 0
Between the points B and C, the velocities vary gradually and finally, between the points C and D, the
motion is in the X direction.
Fig. A-23b shows X axis velocity. Fig A-23c shows Y axis velocity.
T
D
VS
T s s a
= − = −
35708
100000
0.05 = 0.307
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• Appendices
DMC-2X00