Siemens SIMOTICS T-1FW6 Configuration Manual page 113

The angle of rotation φ (t) increases in section I and in section II according to parabolic
functions. This type of traversing profile allows the shortest positioning times.
The required constant angular acceleration or angular deceleration can be calculated from
the defined final angle φ
momentary transitional phases between acceleration/deceleration and the resulting angle
changes are not taken into account.
Since the areas below the curves for ω (t) are the same in both sections, the following applies:
The angular velocity ½ t
acceleration:
The speed n
Note
1 rad corresponds to 180°/π = 57.296°
1 revolution corresponds to 360° or 2 π rad
The following can be calculated with the values specified:
Angular acceleration α = 52.36 rad/s
Angular velocity ω
Speed n
The following applies for the required acceleration torque:
M = (J + J
a
Since the moment of inertia J
then initially J
M = 5.1 kgm
a
To accelerate the specified mass, a torque M
M
m
M
m
Together with the constant frictional torque M
1FW6 Built-in torque motors
Configuration Manual, 09/2022, A5E52220645B AA
MAX
reached at instant ω
1
can be calculated from the n
MAX
= 10.47 rad/s
MAX
= 100 r/min
MAX
) • α
m
= 0 kgm must be assumed.
2
m
• 52.36 rad/s
2
= M + M
r a
= 100 Nm + 267 Nm = 367 Nm
and the associated instant in time t
is determined from the calculated angular
MAX
= ω
MAX
2
for the 1FW6 motor is not known at the time of configuring,
m
= 267 Nm
2
of 267 Nm is required.
a
, a motor torque of M
r
. For the sake of simplicity,
1
• 60 / 2π.
MAX
= 367 Nm. is obtained.
m
Configuration
6.3 Examples
111