《目次》 《索引》
TI 71M01D03-03
1st Edition : 2007.03.12-00
STEP 3
Calculation of acceleration and deceleration time
In order to create move profile:
○ Acceleration and deceleration time
○ Feeding velocity (Positioning velocity)
are required.
Here, you will see how to calculate the acceleration and deceleration time.
3.1 Formula for computation of acceleration and deceleration time
Notice
Construction of instrument or circumstance may apply external torque or
friction to the motor. Those disturbances influence the move, and the result
of this computation may not be optimized. Use the result as the reference.
Also, the above acc/dec time may differ depending on the PLC.
Set appropriate value upon checking the definition of PLC.
Linear (LINEARSERV) : t=M
0.8×F
V
Rotation (DYNASERV) : t = J
Θ’
0.8 * T
t :Acc/Dec time [s]
J :Inertia (load + rotor inertia) [kgm^2]
T :Max motor torque [Nm]
θ’:Angular velocity (rated revolution [rps]×2π[rad]) [rad/s]
t :Acc/Dec time [s]
M :Mass (load + slider masses) [kg]
T :Max motor thrust [N]
θ’:Rated velocity [m/s]
Dec time
Acc time
Rated speed
(Positioning velocity)
t
V
Acc/dec time computed here will be used for creation of move
profile at STEP 5-2 and STEP 6-2.
It is better to calculate the value in advance!
See also “6.1.9 Velocity Profile” in the TI
Max speed
3-1