The acceleration time, Ta, is given by
T
VS
VA
s
a
=
=
=
100000
2000000
0 05
.
The slew time, Ts, is given by
s
T
VS
D
T
a
s
307
.
0
05
.
0
100000
35708
=
−
=
−
=
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 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.
A
B
D
(a)
(b)
(c)
time
C
Figure A.4 - Vector and Axes Velocities
DMC-1600
Appendices
•
197
