Festo Контроллер позиционирования CPX-CMAX - Manual (Page 364)

B. Basic controlling principles
B−22
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
Phases of a posiĆ
tioning process Calculation
formulae Description
Acceleration phase
t
1
+ v
a
1
v = programmed speed
a
1
= acceleration for acceleration ramp
s
1
+
a
1
2 @
t 2
1
a
1
acceleration for acceleration ramp
a
2
= acceleration for braking ramp
t
1
= approach time
t braking time
Braking phase
t
2
+ v
a
2
t
2
= braking time
t
3
= time with constant speed
s
1
= approach path
s
2
+
a
2
2 @
t
2
2
s
1
= approach path
s
2
= braking path
s
3
= path with constant speed
l h
Consistent movement s
3
+ s
ges
−(s
1
) s
2
)
3
p p
s
ges
= complete path
t
3
+
s
3
v