Galil DMC-3425 user manual Velocity

Figure A-10 - 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	Δθ	2π	= 15708
		360
C-D	Linear	10000
	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 A and B 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. A-10 may be specified in terms of the vector speed and acceleration.

VS 100000

VA 2000000

The resulting vector velocity is shown in Fig. A-11.

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

Figure A-11 - Vector Velocity Profile

The acceleration time, Ta, is given by

194 • Appendices DMC-3425