example 2.3.2 for reference only* excute the motion of the longer move programme
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example 2.3.2 for reference only*
excute the motion of the longer move programmed ( X-axis) and slow down the shorter move(Y-axis so that they both finish their moves at the same time. Given V_x=4 in/s anf t_a= 0.2 s, what should be the new speed of the y axis, V_y, so that both axes finish their moves at the same time? keep t_a the same for both axes.
solve problem 13 in image
fora function [t sva] TrapVelwithTM'Vrn , ta, tm); Try your utoncroe MATLAB command pmpt with in/s. ,2s. anl and verify the plot it generates 13. In lExample 232 intehpoated motion capability ofa controller was shown. The speed of the Y-axis ws slowed down by the controllerotha both the X-axis and the Y-axis would linish e ese tc. T'he new speed o the Y-axis was calculated by keeping the acceleration tie the same for both axes. Another way toslow down the aster axis is by keeping its acceleration the same as that of the slower axis. Given V,4 ns ad 0.2 s. what should be the new speed V, of the Y-axis soat both axeshave the sae acceleton nd linish their moves at the same time? References II Application Note. Hlying Shear (ANOO116-003). Technical Repor. A op 2012 21 Dea Tau Data Systems Ine. Applicuion Note: Benej 13 Hugh Jack (20 ngincer On A Disk htlllclaymore.enginergsu.du/-jackh/books/model/chaped its of Using the S-curve Aceeleration Component, 2006 motion. pdf (caccessed 5 August 2013). 4 Chuck Lewin. Muthematies of Mottenm Control Profiles. PMD. 2007.Explanation / Answer
Given Data , (From Reference example 2.3.2 and example 2.3.2)
ta = 0.2 sec, Vx = 4 inch/sec, Lx = 16 inch, Ly = 12 inch,
In this method, the acceleration of both axis motion are same and faster axis (y) speed need to be slowed down. This will effect the ta time of y axis motion.
Acceleration of X axis = (4 / 0.2) = 20 inch/ sec2 = Acceleration of Y axis.
New ta' of Y axis = ( Vy / 20 ).
Now , Vy = Ly / (tm +ta' )
Vy (3.8 + Vy/20) = 12
Vy2 + 19 Vy - 60 = 0
Vy = 2.7577 inch/sec.
So the New speed of Y axis motion is Vy = 2.7577.
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