Galil DMC-1700 Manual De Usuario
236 • Appendices
DMC-1700/1800
Total
35708
counts
In general, the length of each linear segment is
L
Xk
Yk
k
=
+
2
2
Where Xk and Yk are the changes in X and Y positions along the linear segment. The length of the circular arc is
L
R
k
k
k
=
ΔΘ 2 360
π
The total travel distance is given by
D
L
k
k
n
=
=
∑
1
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. 12.2 may be specified in terms of the vector
speed and acceleration.
speed and acceleration.
VS
100000
VA
2000000
The resulting vector velocity is shown in Fig. A.14.
0.05
0.357
10000
Velocity
time (s)
0.407
T
a
T
a
T
s
Figure A.14 - Vector Velocity Profile
The acceleration time, Ta, is given by
T
VS
VA
s
a
=
=
=
100000
2000000
0 05
.
The slew time, Ts, is given by
The total motion time, Tt, is given by
T
D
VS
T
s
t
a
=
+
= 0 407
.
T
D
VS
T
s
s
a
=
− =
−
=
35708
100000
0 05 0 307
.
.