Enclosure
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Example of motion using a VAI motion command
Bewegungsbeispiel anhand eines VAI Motion Commands
A VAI Motion Command (motion using the Velocity Acceleration Interpolator) can be started
directly via the LinMot Talk program.
Ein VAI Motion Command (Bewegung mit dem Velocity Acceleration Interpolator) kann direkt
über das LinMot-Talk Programm gestartet werden.
1. Definition of the movement
1. Definieren der Bewegung
Number of Revolutions
Anzahl Umdrehungen
25
Acceleration phase
Beschleunigingsphase
100 [ms]
Maximal velocity
Maximal Geschwindigkeit
1500 [rpm]
Delay
Verzögerung
50 [ms]
1 Revolution
1 Umdrehung
36 [mm]
2. Converting the rotary parameters into the linear system
2. Umrechnen der rotativen Parameter ins lineare System
𝑇𝑎𝑟𝑔𝑒𝑡 𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 [𝑚𝑚] = 𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 ∗ 36 [𝑚𝑚] = 900 [𝑚𝑚]
𝑀𝑎𝑥𝑖𝑚𝑎𝑙 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦[𝑚/𝑠] = (1500 [1/𝑚𝑖𝑛] ∗ 0.036 [𝑚]) / 60 = 0.9 [𝑚/𝑠]
𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 [𝑚/𝑠^2] = 𝑀𝑎𝑥𝑖𝑚𝑎𝑙 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 [𝑚/𝑠] / 0.1 [𝑠] = 9 [𝑚/𝑠^2]
𝐷𝑒𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 [𝑚/𝑠^2] = 𝑀𝑎𝑥𝑖𝑚𝑎𝑙 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 [𝑚/𝑠] / 0.05 [𝑠] = 18 [𝑚/𝑠^2]
3. Entering the parameters in LinMot Talk
→
Control Panel
→
Motion CMD Interface
3. Eingabe der Parameter im LinMot Talk
→
Control Panel
→
Motion CMD Interface
Figure 5 Motion cmd interface
Abbildung 5 Motion CMD Interface
