AMCI SD4840EK, User Manual

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SD4840EK User Manual
C
ALCULATING
M
OVE
P
ROFILES
41
Constant Acceleration Equations (continued)
Continuing the example from table R3.2, assume a total travel distance of 300,000 steps.
Once you have calculated the maximum speed, you can substitute this value into the time and distance formu-
las in table R3.1 to calculate time spent and distance traveled while accelerating and decelerating.
Total Time Equations
For Trapezoidal Profiles you must first determine the number of counts that you are running at the Pro-
grammed Speed. This value, (D
P
below), is equal to your D
A
and D
D
values subtracted from your total travel.
You can then calculate your total profile time, (T
P
below), from the second equation.
D
P
= (Total Number of Steps) – (D
A
+ D
D
)
T
P
= T
A
+ T
D
+ D
P
/V
P
For Triangular Profiles, the total time of travel is simply:
T
P
= T
A
+ T
D
D
A
D
D
+
V
M
2
V
S
2
–
2
a
--------------------
V
M
2
V
S
2
–
2
d
-------------------- + =
300,000 steps
V
M
2
141
2
–
2 20,000
 
-------------------------
V
M
2
141
2
–
2 25,000
 
------------------------- + =
300,000 steps
V
M
2
20,000 –
40,000
------------------------------
V
M
2
20,000 –
50,000
------------------------------ + =
300,000 steps
5
5
---
V
M
2
20,000 –
40,000
------------------------------
 
 
 
4
4
---
V
M
2
20,000 –
50,000
------------------------------
 
 
 
+ =
300,000 steps
5
V
M
2
100,000 –
200,000
------------------------------------
4
V
M
2
80,000 –
200,000
--------------------------------- + =
300,000 (200,000) 9
V
M
2
180,000 – =
60,000.18 10
6

9
--------------------------------------
V
M
2
=
V
M
81,650 steps/sec =