Galil DMC-13X8 user manual Tt = VSD + Ta = 0.407s

The total motion time, Tt, is given by

Tt = VSD + Ta = 0.407s

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. 12.2 are given in Fig. 12.4.

Fig. 12.4a 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.

B C

A

Figure 12.4 - Vector and Axes Velocities

(a)

D

(b)

(c)

time

USER MANUAL Appendices • 201