Galil DMC-3425 user manual 100000 = 0.05 s 2000000

Ta = VS	=	100000	= 0.05s
VA		2000000

The slew time, Ts, is given by

Ts = VSD − Ta = 10000035708 - 0.05 = 0.307s

The total motion time, Tt, is given by

Tt = VSD + Ta = 0.407s

The velocities along the A and B 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 A and B axes for the path shown in Fig. A-10 are given in Fig. A- 12.

Fig. A-12(a) 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 B axis. Therefore,

Vb = Vs

and

Va = 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 A-12 - Vector and Axes Velocities

(a)

D

(b)

(c)

time

DMC-3425 Appendices• 195