ROBO Cylinder IAI America RCA-SA4C, Operating Manual

Page: 21 / 128

10
6.
Use your actuator at duties not exceeding the calculated reference duty
The duty of an actuator refers to the operating rate of the actuator (time during which the actuator is
operating in one cycle).
Use your actuator at duties not exceeding the reference duty calculated by the formula below. If the
reference duty is exceeded, overloading may occur or the motor may generate heat. In an extreme case, the
motor may be damaged, etc.
Duty Load factor (%)
Caution:
If an overload error generates, extend the stopped time to lower the duty or
decrease the acceleration/deceleration
[How to Calculate Duty]
[1] Calculate the load factor LF using the formula below:
Load factor:
r r
x M
x M
LF



%
Maximum payload capacity at maximum acceleration : Mr
Maximum acceleration/deceleration :

r
Transferring mass during operation : M
Acceleration/deceleration during operation :

(Note) For the maximum payload capacity at maximum acceleration, and the maximum
acceleration/deceleration, refer to 2, “Performance.
[2] Calculate the acceleration/deceleration time ratio t
od
using the formula below:
Acceleration/deceleration time ratio t
od
= (%)
Acceleration time = (sec) Deceleration time = (sec)
Acceleration (mm/s
2
) = Acceleration (G) x 9,800 mm/s
2
Deceleration (mm/s
2
)= Deceleration (G) x 9,800 mm/s
2
[3] Read off the reference duty from the graph based on the calculated load factor LF and
acceleration/deceleration time ratio t
od
.
Example) If the load factor LF is 80% and acceleration/deceleration time ratio t
od
is 80%, the reference
duty is approx. 75%.
Operating time
Operating time + Stopped time
Acceleration time + Deceleration time
Operating time
Speed (mm/s)
Acceleration (mm/s
2
)
Speed (mm/s)
Deceleration (mm/s
2
)
Reference duty (%)
Acceleration/deceleration time ratio t
od
(%)
LF = Less than 50%
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