Table of Contents
Advertisement
XPS-Q8 Controller
Here:
DT
is the segment duration in seconds
DX
is the displacement during DT
V
is the output velocity of the previous segment (which is equal to the input
in
velocity of the current segment)
V
is the output velocity of the current segment.
out
t
is the time in seconds starting at 0 (entry of the current element) and ending at
DT (end of the segment)
8.3.5
Influence of the Element Output Velocity to the Trajectory
The contour of each PVT trajectory element is influenced not only by the displacement,
but also by the input and output velocities. As the user decides on these velocities,
attention must be placed on these values to get the desired results.
The effect of the velocity is illustrated in the following example which shows the
position and velocity profiles for one segment of a PVT trajectory that has a
displacement of 5 mm, a duration of 100 ms, an input velocity of 10 mm/s and an output
velocity of either 50 mm/s or 500 mm/s:
• If the output velocity is equal to 50 mm/s.
• If the output velocity is equal to 500 mm/s.
103
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Motion Tutorial
Advertisement
Table of Contents
