User's Manual

Configuring the motor
5.2 Example(s)
Figure 5-8 Ideal traversing profile with angular acceleration α (t), angular velocity ω (t), and
angle φ (t)
Table 5- 1 Functions of the individual sections in the traversing profile
Section I Section II
α
I
(t) = α α
II
(t) = - α
ω
I
(t) = α t ω
II
(t) = - α t + α t
1
φ
I
(t) = ½ α t
2
φ
II
(t) = - ½ α t
2
+ α t
1
t + φ
MAX
The angular acceleration α (t) is constant across all sections. The angular velocity ω (t)
increases to the maximum value (linear) and then decreases to standstill in the second
section (linear).
In sections I and II, the rotation angle φ (t) traversed increases in accordance with parabolic
functions. This type of traversing profile allows the shortest positioning times.
The required constant angular acceleration or angular delay can be calculated from the
defined end angle φ
MAX
and the corresponding time t
1
. For the sake of simplicity, momentary
1FW6 Built-in torque motors
Configuration Manual, 05/2009, 6SN1197-0AE00-0BP3
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