Page 130 - RoboCilindri, RCP2-RCP3, robocilindri, sinta,

Selection Guide (Push Force / Continuous Operation Thrust)The method of calculating t a, which is the acceleration duration, will vary for 1 trapezoidal pattern vs. 2 triangular patter movements. Whether a movement pattern is trapezoidal or triangular can be determined by whether the peak speed reached after accelerating over a distance at a specified rate is greater than or less than the specified speed.Peak Speed (Vmax)= Distance Moved (m) × Set Acceleration (m/s2) Set Speed < Peak Speed 1 Trapezoidal PatternSet Speed > Peak Speed 2 Triangular Pattern For trapezoidal pattern,For triangular patternt a=Vs/a Vs : Set speed (m/s) a : Ordered acceleration (m/s2) t a=Vt/a Vt : Peak speed (m/s) a : Ordered acceleration (m/s2)Trapezoidal PatternSpeed mm/sAcceleration Constant speed DecelerationPositioning Settling TimeTime sPositioning TimeTriangular PatternSpeed mm/sPositioning Settling TimeTime sAcceleration DecelerationPositioning Timet f is the time taken to move at constant speed. You can calculate this time by computing the distance moved at constant speed. t f= Lc/V Lc : Distance moved at constant speed (m) V : Commanded acceleration (m/s)* Distance moved at constant speed = total distance − accelerated distance − decelerated distance Accel./decel. distance = V2/2at d is the deceleration time. This is the same as the acceleration time, if the magnitude of acceleration and deceleration are the same. t d=V/a V : Set speed (trapezoidal pattern) or Peak speed (triangular pattern)(m/s) a : Commanded deceleration (m/s2)If the continuous operation thrust Ft by this method is less than the rated thrust, then operation is possible.Operation is possible if both of the above operating conditions 1 and 2 are met.If either condition cannot be met, make adjustments such as shortening the pushing operation time or decreasing the duty.Rated thrust for ultra-high-thrust actuator with 2.5 lead: 5100NRated thrust for ultra-high-thrust actuator with 1.25 lead: 10200NSample ProblemSelect an operation pattern by using the selection method described above.Operating ConditionsV1G = 9.8m/s2Model usedMounting orientationSpeedAccelerationDistance movedPayloadPush order valuePushing TimeWait timePush down 50mm, then raise 50mm, and finally wait 2 seconds. The conditions for downward and upward motions are identical.: Ultra-high-thrust actuator with 1.25 lead: Vertical: 62mm/s: 0.098m/s2 (0.01G, same value for deceleration.) : 50mmt2a t2ft2d tw: 100kg: 200% (2000kgf) : 3 seconds: 2 secondsTt1a t1f t1d t0tPlotting the above operation yields the graph on the right.Technical Reference/Information Appendix: - 72