Galil DMC-2X00 user manual Velocity

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.

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

Figure A-22 - 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

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.

DMC-2X00 Appendices y 203