Coordinated Motion - Mathematical Analysis - Galil Motion Control DMC-14 5 Series Manual

JC6 (IDC 50 Pin)
JC8 (IDC 50 Pin)
JC6, JC8 - 50 pin
shrouded headers w/
Figure A-13 – CB-50-80 Layout

Coordinated Motion - Mathematical Analysis

The terms of coordinated motion are best explained in terms of the vector motion. The vector velocity,
Vs, which is also known as the feed rate, is the vector sum of the velocities along the X and Y axes, Vx
and Vy.
Vs
The vector distance is the integral of Vs, or the total distance traveled along the path. To illustrate this
further, suppose that a string was placed along the path in the X-Y plane. The length of that string
represents the distance traveled by the vector motion.
The vector velocity is specified independently of the path to allow continuous motion. The path is
specified as a collection of segments. For the purpose of specifying the path, define a special X-Y
coordinate system whose origin is the starting point of the sequence. Each linear segment is specified
DMC-14x5/6
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CB-50-80 Layout
Pin1 ()
CB 50-80
GALIL MOTION
Pin1 ( )
CONTROL
MADE IN USA
JC8
center key
= +
2 2
Vx Vy
1/8"D, 4 places
J9 - 80 pin connector
AMP part # 3-178238-0
(Pin 1)
REV A
J9
DETAIL
1
JC6 2
3 43
4
41
42
Appendices
i
179