Galil Motion Control DMC-18 2 Series User Manual page 209

B-C
C-D
In general, the length of each linear segment is
L
Where Xk and Yk are the changes in X and Y positions along the linear segment. The length of the
circular arc is
L
The total travel distance is given by
D
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.2 may be specified in terms of the
vector speed and acceleration.
VS
VA
The resulting vector velocity is shown in Fig. A.3.
10000
Figure A.3 - Vector Velocity Profile
198 ● Appendices
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R Δ
Circular
360
Linear 10000
Total 35708 counts
+
2 2
Xk Yk
k =
π
= ΔΘ 2 360
R
k k k
n
∑
=
L
k
=
k 1
100000
2000000
Velocity
T 0.05
a
θ π
2
= 15708
T 0.357
s
time (s)
T 0.407
a
DMC-18x2