Figure A.9: 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
.
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 Figure A.8 are given in Figure A.10.
Figure A.10 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.
Figure A.10: Vector Axes Velocities
Chapter 6 Programming Motion ▫ 88
DMC-40x0 User Manual
T
VS
T
s
s
35708
0
0 307
D
a
100000
05
.
.
0.05
0.357
10000
Velocity
time (s)
0.407
T
a
T
a
T
s
A
B
D
(a)
(b)
(c)
time
C