Appendices; Appendix 1 Cam Curves - Mitsubishi Electric Q Series Programming Manual

APPENDICES

APPENDICES

APPENDIX 1 Cam Curves

The cam acceleration curve formulas used in the virtual mode are shown below.
(1) Acceleration curve formula
<Symbol explanation>
• A : Dimensionless acceleration
• Am : Dimensionless maximum acceleration
• T : Dimensionless time
• Ta, Tb, Tc : T borderlines when section divisions are used
(a) Discontinuity curve
1) Constant-speed curve
A = C0
2) Constant-acceleration curve
• Section (0 T 0.5)
A = 4 + C0
• Section (0.5 < T 1)
A = 4 + C0
(b) Two-dwelling symmetrical curve
1) 5th curve
3 2
A = 120T 180T
2) Cycloid curve
Am = 2
A = 2 sin2 T + C0
3) Distorted trapezoid curve
1
Ta =
8
Am =
1
Ta +
4
• Section (0 T Ta)
A = Amsin
2Ta
• Section (Ta < T 0.5
A = Am + C0
• Section (0.5
( T
A = Amcos
• Section (0.5 + Ta < T 1
Am + C0
A =
• Section (1 Ta < T 1)
A = Amcos
APP - 1
+ 60T + C0
1
2
Ta
T + C0
Ta)
Ta < T 0.5 + Ta)
0.5 Ta)
+ C0
2Ta
Ta)
( T
1
Ta)
+ C0
2Ta
APP.