Galil DMC-1800, DMC-1700 Velocity, time s, Lk = Xk 2 + Yk, 100000, = 0.05s, 2000000, Ta =, 35708

Total	35708 counts
In general, the length of each linear segment is

Lk = Xk 2 + Yk 2

Where Xk and Yk are the changes in X and Y positions along the linear segment. The length of the circular arc is

Lk = Rk ΔΘk 2π 360

The total travel distance is given by

n

D= ∑ Lk

k=1

The velocity profile may be specified independently in terms of the vector velocity and acceleration.

For example, the velocity profile corresponding to the path of Fig. 12.2 may be specified in terms of the vector speed and acceleration.

VS 100000

VA 2000000

The resulting vector velocity is shown in Fig. A.14.

Velocity
10000
					time (s)
Ta	0.05	Ts	0.357	Ta	0.407

Figure A.14 - Vector Velocity Profile

The acceleration time, Ta, is given by

Ta =	VS	=	100000	= 0.05s
	VA		2000000

The slew time, Ts, is given by

Ts =	D	− Ta =		35708	− 0.05 = 0.307s
	VS		100000

The total motion time, Tt, is given by

Tt = VSD + Ta = 0.407s

236 • Appendices DMC-1700/1800