SMC Networks CRA1 100, Operation Manual, Page: 26 / 34

- 26 -
Kinetic energy
Table (9) shows the allowable kinetic energy of the rotary actuator.
The end angular speed
ω
is obtained by:
t

２
ω＝
θ：
Rotation angle rad
(90°:1/2
π
rad)
(180°:
π
rad)
ｔ：
Rotation time s
Kinetic energy E is obtained by:
２
ω Ｉ
２
１
  
E
Therefore, the rotary actuator rotation time is:
Ｅ
θ Ｉ ２
ｔ
２
 

Please refer to Table (2) for the Swing time adjustable range of each size.
Table (
9
) Allowable kinetic energy
Size
Allowable kinetic energy (J)
Without
Air Cushion
With
Air Cushion
※
30 0.01
―
50 0.05 0.98
63 0.12 1.50
80 0.16 2.00
100 0.54 2.90
※
The allowable kinetic energy of the actuators with a
cushion is the maximum absorbed energy when the
cushion needle is properly adjusted.
For equiangular acceleration, the angular velocity, ω, after t seconds are obtained
using the following equations.
1 (
                 
ｔ ω ω＝
･
2 (
      

＋Ｃ ｔ ω
２
１
ｔｄｔ＝ ω θ＝
２
･ ･
C : Integration constant
Because the displacement angle in
t=0 becomes θ=0, it becomes C=0.
ωｔ
２
１
＝ ｔ ω
２
１
θ＝
２
･
Hence
ｔ
２θ
ω＝
Ｅ：
Allowable kinetic energy
Ｊ
θ：
Rotation angle rad
Ｉ：
Inertia moment kg
・
m
２
2020-10-13 10:33
DI987004