Festo Кабели и принадлежности - Manual (Page 436)

B. Optimizing the positioning behaviour
B−6
Festo P.BE−SPC200−EN en 0901d
Please note
With dynamic identification, the maximum speed and the
maximum acceleration values of the positioning system
concerned are ascertained. When NC commands G01, G02
and G08, G09 are used, these values must not be exĆ
ceeded.
Phases of a
positioning process Calculation
formulae Description
Acceleration phase
t
1
+ v
a
1
v = programmed speed
a
1
= acceleration for approach ramp
s
1
+
a
1
2 @
t 2
1
a
1
= acceleration for approach ramp
a
2
= acceleration for braking ramp
t
1
= approach time
t
2
= 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
t
3
= path with constant speed
s = complete path
Consistent movement s
3
+ s
ges
−(s
1
) s
2
)
s
1
= complete path
t
3
+
s
3
v