Beckhoff AL2000 Application Manuale Utente Scaricare il pdf (Pagina 28)

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Step 2: Kinematic analysis

Sketch a velocity-time diagram for the worst case cycle of your application. Mark the acceleration and decelera-

tion time and the maximum speed. Take 20-40ms extra settlingtime when exact positioning is required.

Case kinematic analysis:

Accelaration and deceleration time and distance:

In this case for acceleration and decelaration the same time and distance are needed. The time needed to

cover the distance of the constant movement (t

= 0,167 s) follows directly from the total time t

acd

calculated

before.

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Beckhoff AL2000 Application Manuale Utente Pagina 28