User Manual

B. Optimizing the positioning behaviour
B−6
Festo P.BE−S PC200−EN en 0901d
Please note
With dynamic identification, the maximum speed and the
maximum acceleration values of the positioning system
concerned are ascertained. When NC commands G01, G02
and G08, G09 are used, these values must not be ex
ceeded.
Phases of a
positioning process
Calculation
formulae
Description
Acceleration phase
t
1
+
v
a
1
v= programmed speed
a
1
= acceleration for approach ramp
s
1
+
a
1
2
@ t
2
1
a
1
=
acceleration
for
approach
ramp
a
2
= acceleration for braking ramp
t
1
= approach time
t
2
= braking time
Braking phase
t
2
+
v
a
2
t
2
= braking time
t
3
= time with constant speed
s
1
= a
pp
roach
p
ath
s
2
+
a
2
2
@ t
2
2
s
1
=
approach
path
s
2
= braking path
t
3
= path with constant speed
s = complete path
Consistent movement
s
3
+ s
ges
−(s
1
) s
2
)
s
1
= complete path
t
3
+
s
3
v