Festo HSP AE Series, Руководство пользователя

Страница: 114 / 174

5. Commissioning with the control panel
5−22
Festo P.BE−HSP−AE−IO−EN en 0510NH
Ascertaining the pulse time
Definition
Pulse time t
t
= positioning time t + dwell time t
e
t: The time which the handling module requires in order
to move from the stop of the pick position to the stop
of the place position and back (permitted values see
following characteristic curves).
t
e
: The time during which the handling module remains in
the Pick&Place positions.
With the following diagrams, the travel time as a factor of the
work load and the corresponding speed setting can be ascer
tained. The shortest achievable travel time t is represented
taking into account the repetition accuracy and an optimized
oscillation and positioning behaviour.
m[kg]
t[ms]
Fig.5/3: Travel time t as a factor of the work load m
Definition
Work load m = additional mass on the vertical guide rail,
e.g. adapter, swivel drive, gripper and work item