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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]
[Eqn. 3]
Decel Time T3
dt =
0.082
[Eqn. 4]
Accel Distance
ax =
40.789
mm =
v2 2a
[Eqn. 5]
dx = cx =
16.315 42.896
mm =
v2 2d
[Eqn. 6]
[Eqn. 7]
mm = x - (a x + d x)
ct =
0.107
sec = c x v
[Eqn. 8]
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
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.
, 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
[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]
Distance Velocity Average Vel Distance 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=
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]
i= h G=
9 81%
TL i hG [Eqn. 3]
TM = 94.80666 mNm =
[Eqn. 4]
[Eqn. 5]
a])
[Eqn. 1]
m= a= m= L= hs =
kg m/s2 mm/rev
Acc. Force =
0.9805
N=ma
[Eqn. 6]
[Eqn. 7] 2 p hs
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
mm/min = Fe K Fs
Dmin SL L
2
[Eqn. 2]
Cssec = 291.0904
mm/sec = Csmin
60
[Eqn. 4]
[Eqn. 5]
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 = Root diamter L = Length of screw between supports Fe = End Fixity Fs = Safety Factor K = Constant Pc = Cloumn strength of screw
in in Fixed-Simple
lbs
= Fe K Fs
Dmin4 L
2
[Eqn. 2]
LO = NDLC = K= P=
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