KE-3020_动作说明书.pdf - 第43页

䎵䏈䏙  䎔䎑䎓䎃 ࡼ԰䇈ᯢк 䎃 䎃 䎃 3-24 䎖䎐䎘 䎐䎕䎐 䎛 ᏺᓣ 䗕఼᭭᥼ 乊ᓔྟˈ 䎻 䎼 䕈⿏ࡼ ᓔྟᯊ䯈 䎃 ਌䰘ᯊ 䎃 ᏺᓣ䗕఼᭭乊᭭ᰃ೼਌䰘ܗӊⱘϟ㸼䴶छ催 䕝䏐䏐 ᯊᓔྟⱘˈ ҹ䙓ܡ⺄ࠄ 䎽 䕈ϞछЁ਌䰘ⱘܗӊDŽ 㟇Ѣ 䎻䎼 ⿏ࡼᓔྟᯊᴎ 䎃 ⬅Ѣᖙᅮ䖯㸠ܗӊ਌䰘Ẕ⌟ˈ᠔ҹᰃ೼ 䎽 䕈ϞछᏆ㒧ᴳǃ䖯㸠਌䰘Ẕ⌟П ৢᓔྟ⿏ࡼDŽ 䎃 ਌䰘ⱘᇍ䈵㸠⿟ߚ㉏Ў 䎦䎏䎃䎨䎏䎃䎦䎕䎏䎃䎨䎕 DŽ 䎃 ▔ܝЁᖗҹ໪ⱘ T 䕈ᓔ…

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䎵䏈䏙䎔䎑䎓䎃
ࡼ԰䇈ᯢк䎃
䎃
䎃
3-23
䎖䎐䎘䎐䎕䎐䎚 䌈㺙Ϟछᯊⱘ䎽䕈ࡼ԰䎃
Ϣܗӊ䆚߿ᮍᓣ˄䎯䎤ǃ䎹䎦䎶˅᮴݇ˈ㸠⿟ߚ㉏া᳝ϔϾDŽ䎃
䎔䎌䎃 㸠⿟ߚ㉏ 䎶䎃 䎃 䎯䎤ǃ䎹䎦䎶 䆚߿䎃
䎽 䕈ⱘ䌈㺙Ϟछህᰃ৥▔ܝ催ᑺϞछDŽ䎃
⿏ࡼ䞣 䎶˙䎻䎼 ⿏ࡼ催ᑺD䎃 ˉ䎃䏋䎃䎃 䌈㺙य़ܹ䞣䎃
⿏ࡼ䞣 䎶䎔˙䎕䎃䎃 䌈㺙य़ܹ䞣䎃 ˉ䎃䏋䎃
⿏ࡼ䞣 䎶䎕˙䎻䎼 ⿏ࡼ催ᑺD䎃 ˉ䎃䎕䎃
䎃
䎕䎌䎃 ৘ᴎ⾡ⱘ 䎽 䕈㸠⿟䎃
䎃䎃 䎃䎃䌈㺙Ϟछ䎃
ᴎ⾡䎃 ܗӊ催ᑺ㾘Ḑ䎃 䌈㺙༈ 䎶䎃 䎶䎔䎃 䎶䎕䎃
䎋䎔䎌䎃 䎮䎨䎐䎖䎓䎕䎓䎒䎖䎓䎕䎓䎵䎃 䎔䎕䎃 䎯䎱䎦䎃 䎗䎕䎑䎙䎃 䎔䎑䎚䎃 䎗䎓䎑䎜䎃
䎋䎕䎌䎃 䎮䎨䎐䎖䎓䎕䎓䎒䎖䎓䎕䎓䎵䎃 䎕䎓䎃 䎯䎱䎦䎃 䎗䎕䎑䎙䎃 䎔䎑䎚䎃 䎗䎓䎑䎜䎃
䎋䎖䎌䎃 䎮䎨䎐䎖䎓䎕䎓䎒䎖䎓䎕䎓䎵䎃 䎕䎘䎃 䎯䎱䎦䎃 䎗䎕䎑䎙䎃 䎔䎑䎚䎃 䎗䎓䎑䎜䎃
䎋䎗䎌䎃 䎮䎨䎐䎖䎓䎕䎓䎒䎖䎓䎕䎓䎵䎃 䎔䎕䎃 䎬䎦䎃 䎘䎚䎑䎙䎃 䎔䎑䎚䎃 䎘䎘䎑䎜䎃
䎋䎘䎌䎃 䎮䎨䎐䎖䎓䎕䎓䎒䎖䎓䎕䎓䎵䎃 䎕䎓䎃 䎬䎦䎃 䎘䎚䎑䎙䎃 䎔䎑䎚䎃 䎘䎘䎑䎜䎃
䎋䎙䎌䎃 䎮䎨䎐䎖䎓䎕䎓䎒䎖䎓䎕䎓䎵䎃 䎕䎘䎃 䎬䎦䎃 䎘䎚䎑䎙䎃 䎔䎑䎚䎃 䎘䎘䎑䎜䎃
䎕
䎶䎕
䎶䎔䎃
䎶
䕙
䌈㺙催ᑺ䎃 ᕙᴎ催ᑺ䎃
䎵䏈䏙䎔䎑䎓䎃
ࡼ԰䇈ᯢк䎃
䎃
䎃
3-24
䎖䎐䎘䎐䎕䎐䎛 ᏺᓣ䗕఼᭭᥼乊ᓔྟˈ䎻䎼䕈⿏ࡼᓔྟᯊ䯈䎃
਌䰘ᯊ䎃
ᏺᓣ䗕఼᭭乊᭭ᰃ೼਌䰘ܗӊⱘϟ㸼䴶छ催 䕝䏐䏐 ᯊᓔྟⱘˈҹ䙓ܡ⺄ࠄ 䎽 䕈ϞछЁ਌䰘ⱘܗӊDŽ
㟇Ѣ 䎻䎼 ⿏ࡼᓔྟᯊᴎ䎃 ⬅Ѣᖙᅮ䖯㸠ܗӊ਌䰘Ẕ⌟ˈ᠔ҹᰃ೼ 䎽 䕈ϞछᏆ㒧ᴳǃ䖯㸠਌䰘Ẕ⌟П
ৢᓔྟ⿏ࡼDŽ䎃
਌䰘ⱘᇍ䈵㸠⿟ߚ㉏Ў 䎦䎏䎃䎨䎏䎃䎦䎕䎏䎃䎨䎕DŽ䎃
▔ܝЁᖗҹ໪ⱘ T 䕈ᓔྟ䕀ࡼˈ೼乘䕑ᓔྟৠϔᯊ䯈ᓔྟDŽ䎃
䎋⊼ 䎔䎌䎃 ᏺᓣ䗕఼᭭᥼乊ᓔྟˈ䎻䎼 䕈⿏ࡼᓔྟᯊ䯈ˈৃҹϾ߿䆒ᅮDŽ䎃
䎃
䌈㺙ᯊ䎃
䌈㺙ᯊ 䎻䎼 䕈ᓔྟ⿏ࡼⱘᯊ䯈ᰃ 䎽 䕈ϞछЁˈ਌ఈϟ䴶䎱⾏෎ᵓϞ䴶H䏐䏐 ⱘ催ᑺᓔྟDŽ䎃
䌈㺙ᯊⱘᇍ䈵㸠⿟Ў 䎴䎏䎃䎶䎏䎃䎴䎕䎏䎃䎶䎕DŽ䎃
▔ܝЁᖗҹ໪ⱘ T 䕈ᓔྟ䕀ࡼˈ೼ 䎻䎼 䕈⿏ࡼৠϔᯊ䯈ᓔྟDŽ䎃
䎋⊼ 䎕䎌䎃 䌈㺙ᯊⱘ 䎻䎼 䕈ᓔྟ⿏ࡼᯊ䯈਌䰘ᯊৃҹϾ߿䆒ᅮDŽ䎃
䎃
䖯㸠䌈㺙ࡼ԰ᯊˈ䎻䎼 䕈⿏ࡼᓔྟⱘᯊᴎᰃˈҹ䕈偅ࡼ఼Ẕ⌟ࠄ 䎽 䕈䗮䖛 䎻䎼 ৃ⿏ࡼ催ᑺПৢˈ䎃
ᓔྟ 䎻䎼 䕈⿏ࡼDŽ䎃
䎃
՟䎌䎃 㸠⿟ߚ㉏ 䎶 ᯊ䎃
䎽 䕈ᓔྟϞछПৢᓔྟ乘䕑ˈᓔྟᏺᓣ䗕఼᭭᥼乊ˈᓔྟ 䎻䎼 䕈⿏ࡼⱘ䎱⾏Ў 䎶䎖 ⱘ䆱ˈ䎶䎖 བϟDŽ
䎶䎖˙਌䌈㺙ܹ䞣ˇܗӊ८ᑺ 䏋ˇH䎃䎋䏐䏐䎌䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
㟇ᓔྟ 䎻䎼 ⿏ࡼⱘᕙᴎᯊ䯈 䎷 䅵ㅫབϟDŽ䎃
Ϟछࡴ䗳ᑺЎDˈϞछ䗳ᑺЎ 䎹DŽ䎃
䎃
䎽 䕈᳔催䗳ᑺ䎝䎹䏐䏄
䏛䎃 䎹䏐䏄䏛䎃䎠䎃䎚䎕䎓䎃䏎䏓䏓䏖䎃 䎃
Ϟछࡴ䗳ᑺ䎝䎃D䎔䎃
⿏ࡼ䎱⾏䎝䎃䎶䎖䎃
䎃
6
9PD[
D
ᯊϝ㾦偅ࡼ 7 
6
D

6t
9PD[
D
ᯊৄᔶ偅ࡼ 7
9PD[
D
6
9PD[

䎶䎃
䎶䎖䎃
H䎃
䌈㺙催ᑺ䎃
䎻䎼 ⿏ࡼᓔྟ催ᑺ ▔ܝ䆚߿催ᑺ
෎ᵓϞ䴶
䎵䏈䏙䎔䎑䎓䎃
ࡼ԰䇈ᯢк䎃
䎃
䎃
3-25
䎖䎐䎘䎐䎕䎐䎜 䎽䕈䗳ᑺᮍᓣ䎃
⿏ࡼ䎱⾏䎝䎃 䎶䎃
᳔催䗳ᑺ䎝䎃 䎹䏐䏄䏛䎃
ࡴ䗳ᑺ䎝䎃 Dᯊ䎏䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
⿏ࡼ䎱⾏ⷁ៪ࡴ䗳ᑺᇣᯊˈዄؐ䗳ᑺ᳝ৃ㛑䖒ϡࠄ᳔催䗳ᑺDŽ䎃
ℸᯊⱘ䗳ᑺᮍᓣЎϟ೒ⱘϝ㾦偅ࡼDŽ䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎽 䕈བϟ೒᠔⼎ᣝ✻ϝ㾦៪ৄൟ偅ࡼ䖯㸠ࡼ԰DŽ䎃
䎃䎯䎱䎦ǃ䎬䎦䎃 䎃 䎃
䎽 䕈催䗳䗳ᑺ䎃
䎚䎕䎓䎃 䏎䏓䏓䏖䎃
䎽 䕈催䗳ࡴ䗳ᑺ䎃
䎚䎕䎓䎓䎓䎃 䏎䏓䏓䏖
䎕
䎃
䎽 䕈ⱘ᳔催䗳ᑺ੠᳔催ࡴ䗳ᑺབϟ㾘ᅮDŽ䎃
䎃䎯䎱䎦ǃ䎬䎦䎃 䎃
䎽 䕈催䗳䗳ᑺ䎃 䎚䎕䎓䎃 䏎䏓䏓䏖䎃
䎽 䕈催䗳ࡴ䗳ᑺ䎃 䎚䎕䎓䎓䎓䎃 䏎䏓䏓䏖
䎕
䎃
䎽 䕈ߚ䕼⥛䎃
䌈㺙༈䎃 ߚ䕼⥛䎃䎽䕈বᤶ఼䎃
䎯䎱䎦ǃ䎬䎦 䌈㺙༈ 䎓䎑䎓䎓䎔䎕䎘䎃䏐䏐䎃 䎔䎕䎓䎓䎃 㛝ކ䎃 u䎃䎗䎃 ס䎃
䎃
Speed
Time
D D
0 T1 T
v
S <
D
V
max
2
When the conditions shown to the
left are satisfied, the triangle drive is
made.
Z-axis movement time calculation formula
In case of triangle drive
T
= 2
D
S
ᯊЎϝ㾦偅ࡼ
䗳ᑺ
ᯊ䯈
=䕈⿏ࡼᯊ䯈ⱘ䅵ㅫᓣ
ϝ㾦偅ࡼᯊ
D D
0 T1 T2 T
vmax
Speed
Time
Z-axis movement time calculation formula
In case of trapezoidal drive
T
=
D
V
max
S t
D
V
max
2
When the conditions shown to the
left are satisfied, the trapezoidal drive
is made.
Vmax
S
ᯊЎৄᔶ偅ࡼ
䗳ᑺ
ᯊ䯈
=䕈⿏ࡼᯊ䯈ⱘ䅵ㅫᓣ
ৄᔶ偅ࡼᯊ
Speed
Time
D
V
V
D
0 T
vmax
䗳ᑺ
ᯊ䯈