Mitsubishi Electric Q Series, Руководство по программированию

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8 OUTPUT MODULE
8.4.4 Cam curve list
This section describes the cam curves which can be used in the virtual mode.
(1) Cam curve characteristics comparison
The cam curve characteristics comparison is shown below.
Table 8.6 Cam Curve Characteristics Comparison Table
Class
Cam curve
name
Acceleration
curve shape
Vm Am (A • V)m (V • V)m (S • V)m Remark
Constant -
speed
1.00 1.00 1.00
Discontinuity curves
Constant-
acceleration
2.00 ± 4.00 ± 8.00 4.00 1.09
5
th
curve 1.88 ± 5.77 ± 6.69 3.52 1.19
Cycloid 2.00 ± 6.28 ± 8.16 4.00 1.26
Distorted
trapezoid
2.00 ± 4.89 ± 8.09 4.00 1.20 Ta = 1 / 8
Distorted sine 1.76 ± 5.53 ± 5.46 3.10 1.13 Ta = 1 / 8
Symmetrical
curves
Distorted
constant-
speed
1.28 ± 8.01 ± 5.73 1.63 1.07
Ta = 1 / 16
Ta = 1 / 4
Trapecloid 2.18 ± 6.17 ± 10.84 4.76 1.28 m = 1
Two-
dwelling
curve
Asymmetrical
curves
Reverse
trapecloid
2.18 ± 6.17 ± 10.84 4.76 1.28 m = 1
One-dwelling curve
Double
hypotenuse
2.04
+ 5.55
- 9.87
+ 7.75
- 9.89
4.16 1.39
Non-dwelling curve
Single
hypotenuse
1.57 ± 4.93 ± 3.88 2.47 1.02
(2) Free-form curve
The spline interpolation function can be used to create free-form cam curves.