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4. 4 Pushing operation
Cycle Time Entry Method
The acceleration and deceleration are automatically calculated by the controller based on the set
target position and positioning time. The table accelerates and decelerates according to a
triangular movement profile close to the target position (1), thereafter it continues to move at low
speed (6 mm/s) until it comes into contact with the work piece (2). After the table has come into
contact with the work piece, the Card Motor presses the work piece with the set thrust force (3).
Speed Entry Method
The table moves based on the set acceleration, speed and deceleration according to a trapezoidal
movement profile close to the target position (4), thereafter it continues to move at low speed (6
mm/s) until it comes into contact with the work piece (5). After the table has come into contact with
the work piece, the Card Motor presses the work piece with the set thrust force (6).
Note) When the table travels at a maximum speed of 6 mm/s or less before it has started pushing (1 &
4), the pushing speed (2 & 5) will be the same as the maximum travelled speed (1 & 4).
【
Allowable thrust force setting value
】
The temperature of the Card Motor increases during operation due to heating of the coil. Consider
the used duty ratio and set the thrust force setting value in the step data equal to or lower than the
allowable thrust force setting value specified in the diagram below.
Duty ratio is calculated according to the equation below.
Duty ratio = Ta / Tb x 100 [%]
Where, Ta: total travel time + pushing time [s]
Tb: cycle time [s]
(1 & 4) Moves at high speed
(3 & 6) Press
Target position
Card Motor
Jig
(2&5)
Low speed
Work piece
(4) High speed
(5) Low speed
(3) Press
Movement profile for the Cycle Time Entry method
(triangular).
Positioning time [s]
(2) Low speed
Target position
(6) Press
Movement profile for the Speed Entry Method
(trapezoidal).
S
pee
d [mm/s]
Target position
S
pee
d [mm/s]
(1) High speed
Ta
Tb
Position
Time while pushing force is applied
Time
0
1
2
3
4
5
6
0
20
40
60
80
100
Duty ratio [%]
A
llo
w
ab
le t
hr
us
t
fo
rc
e s
et
tin
g
va
lu
e
LAT3-10
LAT3-20
LAT3-30