Festo Кабели и принадлежности - Manual (Page 304)

7. Description of the commands
7−38
Festo P.BE−SPC200−EN en 0901d
With command G02 the nominal acceleration value has a
sin
2 −shaped curve. In this way, sudden modifications of the
positioning signal and thereby sudden movements of the
slide when arriving and braking can be reduced.
As with command G01, the nominal speed value rises at
maximum to the programmed speed. The programmed nomĆ
inal acceleration values of the approach and braking phases
are however to be understood as medium values. The peak
values lie by the factor 2 higher in order to achieve the same
nominal positioning times as with G01.
t [s]
v [m/s]
t [s]
s [m]
t [s]
a [m/s 2 ]
1 4
2
3
5
6
7
8
1
Nominal speed value
2
Configured maximum speed
3
Programmed speed
4
Nominal position value
5
Nominal acceleration value
6
Effective nominal acceleration value
7
Prog. acceler. for approach ramp (G08)
8
Prog. acceler. for braking ramp (G09)
Fig. 7/8: Nominal value specification with command G02 (pneumatic axis)