BECKHOFF AL2000 Application - Manual (Page 23)

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Used formulas
Kinematics
From these formulas two practical estimations can be derived.
1. Estimated time of a ‘short motion’ when vmax is not reached (see ’Velocity-time diagram for a ‘short mo-
tion’’):
2. Estimated time of a ‘long motion’ when vmax is reached (see ’Velocity-time diagram for a combined or ‘long
motion’’):
Dynamics
3. Once you know the mass of the load and having chosen a linear motor type, an estimation of the accelera-
tion can be made by