Galil Motion Control DMC-1000

172 • Appendices DMC-1000
T
V
S
VA
s
a == =
100000
2000000
005.
The slew time, Ts, is given by
T
D
V
S
Tssa=−= =−=
35708
100000
0 05 0 307..
The total motion time, Tt, is given by
T
D
V
S
Tsta=+=0 407.
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.
A
B
D
(a)
(b)
(c)
time
C
Figure 12.4 - Vector and Axes Velocities
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