BECKHOFF AL2000 Application - Manual (Page 28)

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Step 2: Kinematic analysis
Sketch a velocity-time diagram for the worst case cycle of your application. Mark the acceleration and decelera-
tion time and the maximum speed. Take 20-40ms extra settlingtime when exact positioning is required.
Case kinematic analysis:
Accelaration and deceleration time and distance:
In this case for acceleration and decelaration the same time and distance are needed. The time needed to
cover the distance of the constant movement (t
c
= 0,167 s) follows directly from the total time t
acd
calculated
before.