Instruction manual

APP - 1
A
PPENDICES
APP.
APPENDICES
APPENDIX 1 Cam Curves
The cam acceleration curve formulas used in the virtual mode are shown below.
(1) Acceleration curve formula
<Symbol explanation>
• A : Dimensionless acceleration
• Am : Dimensionless maximum acceleration
• T : Dimensionless time
• Ta, Tb, Tc : T borderlines when section divisions are used
(a) Discontinuity curve
1) Constant-speed curve
A = C0
2) Constant-acceleration curve
• Section
(0 T 0.5)
A = 4 + C0
• Section
(0.5 < T 1)
A =
4 + C0
(b) Two-dwelling symmetrical curve
1) 5th curve
A = 120T
3
180T
2
+ 60T + C0
2) Cycloid curve
Am = 2
A = 2 sin2 T + C0
3) Distorted trapezoid curve
1
Ta =
8
1
Am =
12
4
Ta +
Ta
• Section (0 T Ta)
A = Amsin
2Ta
T + C0
• Section (Ta < T 0.5
Ta)
A = Am + C0
• Section (0.5
Ta < T
0.5 + Ta)
(
T
0.5 Ta)
A = Amcos
2Ta
+ C0
• Section (0.5 + Ta < T 1 Ta)
A =
Am + C0
• Section (1
Ta < T
1)
(
T
1
Ta)
A = Amcos
2Ta
+ C0