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236 • Appendices DMC-1700/1800
Total 35708 counts
In general, the length of each linear segment is
L
Xk
Y
k
k = +
22
Where Xk and Yk are the changes in X and Y positions along the linear segment. The length of the circular arc is
LRkkk=ΔΘ2 360
π
The total travel distance is given by
DLk
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.
VS 100000
VA 2000000
The resulting vector velocity is shown in Fig. A.14.
0.05 0.357
10000
Velocity
time (s)
0.407T
a
T
a
T
s
Figure A.14 - Vector Velocity Profile
The acceleration time, T
a
, is given by
T
VS
VA
sa == =
100000
2000000
005.
The slew time, Ts, is given by
The total motion time, Tt, is given by
T
D
V
S
Tsta=+=0 407.
T
D
VS
T s
s a
= − = − =
35708
100000
0 05 0 307..