Trapezoidal Move Distance Max Velocity Acceleration rate Deceleration rate Acc.
Due to Gravity G Acceleration Deceleration Accel Time T1 x= v= ar = dr = 100 400 0.200 0.500 mm mm/sec G G
[Eqn. 1] [Eqn. 2]
G = 9.8E+03 mm/s2 a = 2.0E+03 mm/s2 = a r G d = 4.9E+03 mm/s2 = d r G at = 0.204
sec = v a sec = v d
[Eqn. 3]
Decel Time T3
dt =
0.082
[Eqn. 4]
Accel Distance
ax =
40.789
mm =
v2 2a
[Eqn. 5]
Decel Distance Const Vel Distance
dx = cx =
16.315 42.896
mm =
v2 2d
[Eqn. 6]
[Eqn. 7]
mm = x - (a x + d x)
Const Vel Time T2
ct =
0.107
sec = c x v
[Eqn. 8]
Most numeric questions a top speed; at time t; point
Move Time TTOTAL
t=
0.393
Distance
sec = a t + d t + c t
[Eqn. 9]
There are four physical qu (a), and of course, time (t) combination. The full set o
450 400 350 300 mm/s 250 200 150 100 50 0 0 20
Time 0 0.204 0.311 0.393
Distance 0 40.789 83.685 100
Velocity 0 400 400 0
As an example, consider top speed of 400 mm/sec deceleration occurs at 4.9 mm. Similarly, the decel t subtracting the sum of the velocity. Using Eqn. 15, th mm, and the acceleration the velocity profile would
40
60 mm
80
100
120
Time
450
450 400 350 300 mm/s 250 200 150 100 50 0 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 Seconds
Most numeric questions about positioning applications boil down to one of two types: How long does it take to get there? an top speed; at time t; point x; etc.)? The next question is what is the required torque to perform the profile. There are four physical quantities associated with motion calculations: position (x); its first derivative, velocity (v); its (a), and of course, time (t). These quantities are related by several familiar equations, which can in turn be expanded by su combination. The full set of possible combinations follows. As an example, consider the simple move profile of Figure 20. A positioning table makes a move of 100 mm (0.1 meter), acceler top speed of 400 mm/sec (0.4 m/sec), and then decelerating at 0.5 G. Since one G is 9.8 m/s2, the acceleration occurs at 1. deceleration occurs at 4.9 m/s2. Using Eqn. 8 (t=v/a), the accel time is found to be 0.204 second; using Eqn. 10, the accel d mm. Similarly, the decel time and distance are found to be 0.082 second and 16.3 mm, respectively. The constant velocity dist subtracting the sum of the accel and decel distances from the overall move size of 100 mm, leading to a 42.9 mm length of the velocity. Using Eqn. 15, this phase has a duration of 0.107 second, for an overall move time of 0.393 second. If the move dis mm, and the acceleration and deceleration values were unchanged, then the stage would not be capable of reaching the 400 mm/s the velocity profile would be triangular, rather than the trapezoidal shape shown.
s it take to get there? and How fast am I going (at
, velocity (v); its second derivative, acceleration urn be expanded by substitution to cover any
100 mm (0.1 meter), accelerating at 0.2 G to a e acceleration occurs at 1.96 m/s2, and the sing Eqn. 10, the accel distance is found to be 40.8 . The constant velocity distance is found by to a 42.9 mm length of the move at constant 3 second. If the move distance was less than 57.1 pable of reaching the 400 mm/sec top speed, and
Triangular x= 100 mm t= 0.393 sec v average(sec) = 254.4529 mm/sec = x
t
[Eqn. 1]
v average(min) = 15267.18 mm/min = 60 v av erage(sec) [Eqn. 2] v peak(sec) = 508.9059 mm/sec = 2 v av erage(sec) [Eqn. 3] v peak(min) = 30534.35 mm/min = 2 v av erage(min) [Eqn. 4]
600 500 400 mm/s 300 200 100 0 0
Time 0 0.1965 0.393
Distance Distance Velocity Average Vel 0 0 254.4529 50 508.9059 254.4529 100 0 254.4529
20
40
60 mm
80
100
120
Time
600 500 400 mm/s 300 200 100 0 0 0.1 0.2 Seconds 0.3 0.4 0.5
Mass Linear velocity Lead of screw Lead screw efficiency Lead screw friction coefficient Sliding surface friction coefficient External force Lead screw tilt angle a Force
m= v= L= hs = mo = m= FA = DEG = a= F=
0 20 4.234 78% 0 0 800 0 0 800
kg mm/sec mm/rev
N Radians
N = FA + m (sin[a] + m cos[a]) [Eqn. 1]
Load Torque
TL = 691.1405 mNm =
FL 2 p hs
+ mo L 2p
[Eqn. 2]
Gear ratio Gear efficiency Motor torque
i= h G=
9 81%
TL i hG [Eqn. 3]
TM = 94.80666 mNm =
Motor speed Speed at output shaft
SM = 2550.779 rpm = NG i NG = 283.4199 rpm = v 60
L
[Eqn. 4]
[Eqn. 5]
a])
[Eqn. 1]
Mass Acceleration Coefficient of friction Lead of screw Efficiency of screw
m= a= m= L= hs =
0.5 1.961 0 4.234 78%
kg m/s2 mm/rev
Acc. Force =
0.9805
N=ma
[Eqn. 6]
[Eqn. 7] 2 p hs
Acc. Torque = 0.847079 mNm = [Acc. Force + m m] L
Minimum Fixity Dmin = 21.336 mm SL = 6.35 mm L = 1051.214 mm Fs = 80% K = 1.21E+08 Cssec = 254 Csmin = 15240 Fe = 1.29E+00 = FixedFree mm/sec mm/min
Csmin L2 K Fs Dmin SL [Eqn. 1]
SimpleSimple 1
FixedSimple 1.47
FixedFixed 2.23
0.36
Angular velocity
2400
rpm = 1 Csmin SL
[Eqn. 3]
Dmin = Root diameter SL = Lead L = Length of screw between supports Fs = Safety Factor K = Constant Cs = Critical Speed (linear) Fe = End Fixity
Dmin =
21.336
mm mm mm Fixed-Simple
SL = 6.35 L = 1050.214 Fe = 1.47
Fs = 80% K = 1.21E+08 Csmin = 17465.42
mm/min = Fe K Fs
Dmin SL L
2
[Eqn. 2]
Cssec = 291.0904
mm/sec = Csmin
60
[Eqn. 4]
[Eqn. 5]
Angular velocity 2750.46 rpm = 1 Csmin
SL
Minimum Fixity Dmin = 21.336 L = 1050.2138 Fs = 80% K = 9.864E+03 Pc = 2965.327
mm mm
Dmin = L= Fe = Fs = K= Pc =
Dmin4 2 L [Eqn. 1]
kgf
Pc = 29079.924 N Fe = 2.00 = Pc / K Fs
Pc =
Dmin = L= Fe = FixedFree 0.25 SimpleSimple 1 FixedSimple 2 FixedFixed 4 Fs = K= Pc =
Dmin = Root diamter L = Length of screw between supports Fe = End Fixity Fs = Safety Factor K = Constant Pc = Cloumn strength of screw
21.336 mm 1050.2138 mm 2.00 Fixed-Simple 80% 9.864E+03 2965.327 29079.924 kgf N
0.84 41.347 2.00 80% 1.403E+07 6537.42606
in in Fixed-Simple
lbs
= Fe K Fs
Dmin4 L
2
[Eqn. 2]
LO = NDLC = K= P=
6.5 2500 1250 3.25
lbs lbs psi psi
LO NDLC
[Eqn. 1]
DO =
1 SO = 381.9719 V= 100
in rpm ft/min
= DO p SO 12 [Eqn. 2]
PV=
325
=PV
[Eqn. 3]
LO = Actual operating load NDLC = K= P= DO = Nut dynamic load capacity 1250 psi Pressure Outside diameter of the screw
SO = Operating speed V = Velocity PV= PV value
