Galil DMC-4040 - Page 236

The total motion time, Tt, is given by:
T
D
VS
T s t a = + = 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. A.1 are given in Fig. A.3.
Fig. A.3a 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 A.3 - Vector and Axes Velocities
Appendices • 227 DMC-40x0 User Manual
T
VS
T s
= − = − =
s
35708
0 0 307
D
a
100000
05
. .