Triangle pattern – IAI America SCON-CA User Manual
Page 346
Chapter 10
Appendix
336
[When triangle pattern]
t
�a
= Vt/a
Vt : Arrival speed (m/s) a : Command acceleration (m/s
2
)
Velocity
mm/s
Time
s
Positioning
finish time
Acceleration
zone
Deceleration
zone
Positioning time
Triangle Pattern
(3) t
�f
is the rated speed movement time. Figure out from the rated speed movement distance.
t
�f
= Lc/V
Lc : Rated speed movement distance (m)
V : Command speed (m/s)
Rated speed movement distance = Movement distance - Acceleration distance - Deceleration distance
Acceleration distance (Deceleration distance) = V
2
/2a
(4) t
�d
is the deceleration time. If the acceleration and deceleration settings are the same, this
should equal to the acceleration time.
t
�d
= V/a
V : Set speed (trapezoid pattern) or arrival speed (triangle pattern) (m/s)
a : Command deceleration value (m/s
2
)
If the figured out continuous operation thrust Ft is smaller than the rated thrust, the operation is
available.
Actuator rated thrust lead 2.5 type : 5100N
Lead 1.25 type : 10200N
If the value is too larger, it is necessary to have an action such as to shorten the pressing time,
make the standby time longer, make the pressing force smaller, etc.