Siemens Simovert Masterdrives Compendium page 935

06.2005
11.9.3 Calculating the z-axis as the lifting drive
1. Drive data
2. Travel curve
v
Lifting
v
max
t t
b
k
t
tot
-v
max
Siemens AG 6SE7087-6QX70 (Version AE)
SIMOVERT MASTERDRIVES
♦ Mass to be transported
♦ Pinion diameter
♦ Max. speed
♦ Max. acceleration and deceleration
♦ Lifting height
♦ Cycle time
♦ Mech. efficiency
♦ Mech. accuracy
♦ Overall accuracy required
Area corresponds to lifting height
t
t
v
p
T
Fig. 11-18 Travel curve for lifting and lowering
The travel curve for lifting and lowering is symmetrical. Since the lifting
torque and the lowering torque are different, however, the whole travel
curve has to be considered.
♦ The following is obtained for the missing values of the travel curve:
v 15 .
= = max =
t t
b v
a 2 5 .
max
t
b
− ⋅ −
h v
max
2
=
t
k
v
max
= + + =
t t t t 0 6 0 3 0 6 15
tot b k v
T
= − = −
t t 3 5 15 .
p tot
2
Compendium Motion Control
m= 200 kg
D= 0.1 m
v
max
a
max
h= 1.35 m
T= 7 s
η
mech
∆s
∆s
=
0 6 . s
t 0 6
⋅ v − ⋅
v 135 15 . .
max
2 2
=
15 .
+ + =
. . . . s
=
. 2 s
Engineering Information
= 1.5 m/s
2
= 2.5 m/s
= 0.9
= ±0.1 mm
mech
= ±0.2 mm
tot
Lowering
t
. 0 6 .
− ⋅
15 .
2
=
0 3 . s
11-35