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DMC-3425 Appendices• 195
T
V
S
VA
s
a == =
100000
2000000
005.
The slew time, Ts, is given by
T
D
V
S
T
s
s
a
=
−
=
-
=
35708
100000
0 05 0 307..
The total motion time, Tt, is given by
T
D
V
S
Tsta=+=0 407.
The velocities along the A and B 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 A and B axes for the path shown in Fig. A-10 are given in Fig. A-
12.
Fig. A-12(a) 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 B axis. Therefore,
V
b
= V
s
and
V
a
= 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-12 - Vector and Axes Velocities