Galil Motion Control DMC-18 2 Series User Manual page 210

The acceleration time, T a , is given by
T
The slew time, Ts, is given by
T
The total motion time, Tt, is given by
T
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.2 are given in Fig.
A.4.
Fig. A.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.
DMC-18x2
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VS 100000
= = =
0 05 .
a
VA 2000000
35708
D
= − = −
T
s a
100000
VS
D
= + = 0 407
T . s
t a
VS
s
=
0 05 0 307 . .
s
Appendices • 199