Page 131 - RoboCilindri, RCP2-RCP3, robocilindri, sinta,

Selection Guide (Push Force / Continuous Operation Thrust)Selection Guide (Push Force / Continuous Operation Thrust)Using the selection method:Condition 1. Confirm push operation timeBy comparing our push time of 3 seconds with the maximum push time for a push order value of 200%, which is 13 seconds(see Table 1 on page A-71), it is clear that the pressing time is acceptable. Condition 2. Calculate the continuous operation thrustSubstitute the above operational pattern to the previously mentioned equation for continuous operation thrust.Ft = F1a2 × t1a + F1f2 × t1f + F1d2 × t1d + F02 × t0 + F2a2 × t2a + F2f2 × t2f + F2d2 × t2d + Fw2 × tw tAt this point, by looking at the motion pattern for t1a/t1d/t2a/t2d, the peak speed (Vmax) = 0.05×0.098 which is greater that the set speed, 62mm/s (0.06m/s). Hence this is a trapezoidal pattern.Hence, t1a/t1d/t2a/t2d = 0.062÷0.098 0.63sNext, calculate t1f/t2f:Distance moved at constant speed = 0.05−{(0.062×0.062)÷(2×0.098)}×2 0.011m, so t1f/t2f = 0.011÷0.062Also, calculating the F1a/F1f/F1d/F2a/F2f/F2d from the equations yields the following: F1a = F2d =(9+100)×9.8−(9+100)×0.098 1058NF1d = F2a =(9+100)×9.8+(9+100)×0.098 1079NF1f = F2f = fw=(9+100)×9.8 1068NBy substituting these values to the continuous operation thrust equation,0.07m/s,0.17s.Ft= {(1058×1058)×0.63+(1068×1068)×0.17+(1079×1079)×0.63+(19600×19600)×3+(1079×1079)×0.63 +(1068×1068)×0.17+(1058×1058)×0.63+(1068×1068)×2 }÷(0.63+0.17+0.63+3+0.63+0.17+0.63+2) 12113NSince this exceeds the rated thrust for the 2-ton ultra-high-thrust actuator, which is 10200N, operation with this pattern is not possible. In response, let us increase the wait time. (i.e. decrease the duty)Recalculating with tw=6.12s(t=12s) will change the thrust to Ft=9814N, making it operable.Information on Moment SelectionLoad torqueThe ultra-high-thrust actuator can apply a load onthe rod within the range of conditions calculated below.Moment Load M = Wg×L2 Load Torque T = Wg×L1* g = Gravitational acceleration 9.8* L1 = Distance from the center of rod to the center of gravity of the work piece* L2 = Distance from the actuator mounting surface to the center of gravity of the work piece + 0.07If the above condition is not met, consider installing anexternal guide, or the like, so that the load is not exerted on L2(m) the rod.L1(m)W(kg)Appendix: - 73 Technical Reference/Information