Trapezoid pattern – IAI America SCON-CA User Manual
Page 345
Chapter 10
Appendix
335
Figure out the continuous operation thrust F
t
in 1 cycle using the following formula.
The thrust necessary for rated speed movement and standby are not needed if it is the
horizontally oriented installation.
Ft =
F
1a
2
× t
1a
+ F
1f
2
× t
1f
+ F
1d
2
× t
1d
+ F
0
2
× t
0
+ F
2a
2
× t
2a
+ F
2f
2
× t
2f
+ F
2d
2
× t
2d
+ F
w
2
× t
w
t
(1) F
1a
/F
2a
/F
1d
/F
2d
vary depending on the operation direction. Calculate the following items.
If horizontally oriented (Common to acc/dec) F
1a
= F
1d
= F
2a
= F
2d
= (M + m) × d
If vertical and acceleration downwards
F
1a
= (M + m) × 9.8 - (M + m) × d
If vertical and rated speed downwards
F
1f
= (M + m) × 9.8 + �
M : Weight of moveable parts [kg]
(Note 1)
If vertical and deceleration downwards
F
1d
= (M + m) × 9.8 + (M + m) × d
m : Load weight [kg]
If vertical and acceleration upwards
F
2a
= (M + m) × 9.8 + (M + m) × d
If vertical and rated speed upwards
F
2f
= (M + m) × 9.8 + �
d : Command acceleration/
deceleration speed [m/s
2
]
If vertical and deceleration upwards
F
2d
= (M + m) × 9.8 - (M + m) × d
If vertical and standby
F
w
= (M + m) × 9.8
�
: Thrust considering resistance of
running on external guide
(Note 2)
Note 1 The weight of actuator moveable parts is 9kg. Add the weight of the fixtures attached to
the rod.
Note 2 It is necessary to consider the resistance for the run on the external guide if it is
attached.
(2) t
�a
is the acceleration time. The calculation differs depending whether its operation pattern
is the trapezoid or triangle pattern.
The difference between the trapezoid and triangle patterns can be verified with the
calculated arrival speed whether it is greater or smaller than the setting seed.
Arrival Speed (Vmax) = Movement distance (m) × Set acceleration (m/s
2
)
Set Speed < Arrival Speed � Trapezoid Pattern
Set Speed > Arrival Speed � Triangle Pattern
[When trapezoid pattern]
t
�a
= Vs/a
Vs : Set speed (m/s)
a : Command acceleration (m/s
2
)
Trapezoid Pattern
Velocity
mm/s
Time
s
Positioning
finish time
Acceleration
zone
Rated speed
zone
Deceleration
zone
Positioning time