Instruction manual

APPENDICES
APP − 1
APPENDICES
APPENDIX 1 Cam Curves
The cam acceleration curve formulas used in the VIRTUAL mode are shown
below.
(1) Acceleration curve formula
<Symbols used>
• A : Dimensionless acceleration
• Am : Dimensionless maximum acceleration
• T : Dimensionless time
• Ta, Tb, Tc : T borderlines when section divisions are used
(a) Discontinuous curve
1) Constant-speed curve
A = C0
2) Uniform acceleration curve
Section I (0 ≤ T ≤ 0.5)
A = 4 + C0
Section II (0.5 < T ≤ 1)
A = − 4 + C0
(b) Both-side stationary symmetrical curve
1) 5th curve
A = 120T
3
− 180T
2
+ 60T + C0
2) Cycloid curve
Am = 2π
A = 2π sin2tπT + C0
3) Distorted trapezoid curve
1
Ta =
8
1
Am =
12
4
−
Ta
+
π
Ta
Section I (0 ≤ T ≤ Ta)
π
A = Amsin
2Ta
T
+
C0
Section II (Ta < T ≤ 0.5 − Ta)
A = Am + C0
Section III (0.5 − Ta < T ≤ 0.5 + Ta)
π(T − 0.5 + Ta)
A = Amcos
2Ta
+
C0
Section IV (0.5 − Ta < T ≤ 1 − Ta)
A = −Am + C0
Section V (1 − Ta < T ≤ 1)
π(T − 1 + Ta)
A = −Amcos
2Ta
+
C0