KE-3020_动作说明书.pdf - 第44页
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 D ᯊ 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ⷁࡴ䗳ᑺᇣᯊˈዄؐ䗳ᑺ᳝ৃ㛑䖒ϡࠄ᳔催䗳ᑺDŽ 䎃 ℸᯊⱘ䗳ᑺᮍᓣЎϟⱘϝ㾦偅ࡼDŽ 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎃 䎽 䕈བϟ᠔⼎ᣝ…
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
▔ܝЁᖗҹⱘ 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ϞछЁˈఈϟ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
▔ܝЁᖗҹⱘ 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ࡼᯊˈ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
9PD[
D
ᯊϝ㾦偅ࡼ 7
6
D
6t
9PD[
D
ᯊৄᔶ偅ࡼ 7
9PD[
D
6
9PD[
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ⷁࡴ䗳ᑺᇣᯊˈዄؐ䗳ᑺ᳝ৃ㛑䖒ϡࠄ᳔催䗳ᑺDŽ䎃
ℸᯊⱘ䗳ᑺᮍᓣЎϟⱘϝ㾦偅ࡼDŽ䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎃
䎽 䕈བϟ᠔⼎ᣝ✻ϝ㾦ৄൟ偅ࡼ䖯㸠ࡼDŽ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ᑺ᳔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
䎵䏈䏙䎔䎑䎓䎃
ࡼ䇈ᯢк䎃
䎃
䎃
3-26
䎖䎐䎘䎐䎖 䎽䕈ⱘ䗳ᑺ↨ˈࡴ䗳ᑺ↨䎃
䎖䎐䎘䎐䎖䎐䎔
䎯䎱䎦䌈㺙༈䎃
䎱䎦䎃䎋䎔䎕䏐䏐䎌䎃
䎽䎐䎯䎱䎦䎃 䎤䎃 䎨䎃 䎳䎃 䎶䎃 ݊Ҫ䎃
䎾䏏䏀䎃 䎾䎓䏀䎃 䎾䎗䏀䎃 䎾䎔䎘䏀䎃 䎾䎔䎛䏀䎃 䎾䎔䎜䏀䎃
䎃
䰘ϟ䰡䎃
䎋䎻䎼䎃o䎃䎳䎺䎥䎌
䰘Ϟछ䎃
䎋䎳䎺䎥䎃o䎃䎯䎤䎌
䌈㺙ϟ䰡䎃
䎋䎯䎤䎃o䎃䎳䎺䎥䎌䎃
䌈㺙Ϟछ䎃
䎋䎳䎺䎥䎃o䎃䎯䎤䎌䎃
݊Ҫࡼ䎃
䎾䏐䏀䎃 䎾䏑䎃䏀o䎃 䎾䎓䏀䎃 䎾䎔䏀䎃 䎾䎓䏀䎃 䎾䎔䏀䎃 䎾䎓䏀䎃 䎾䎔䏀䎃 䎾䎓䏀䎃 䎾䎔䏀䎃 䎾䎓䏀䎃 䎾䎔䏀
䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎓䎓䎑䎓䎓䎃 ̣䎃 䎔䎓䎓䎑䎓䎓 ̣䎃 䎔䎓䎓䎑䎓䎓 ̣䎃 䎔䎓䎓䎑䎓䎓 ̣䎃 䎔䎓䎓䎑䎓䎓䎃 ̣
ࡴ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎓䎓䎑䎓䎓䎃 ̣䎃 䎔䎓䎓䎑䎓䎓 ̣䎃 䎖䎔䎑䎖䎛 ̣䎃 䎔䎓䎓䎑䎓䎓 ̣䎃 䎔䎓䎓䎑䎓䎓䎃 ̣
䎾䎓䏀䎃 催䗳䎃
ޣ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎖䎓䎑䎓䎓䎃 ̣䎃 䎔䎓䎓䎑䎓䎓 ̣䎃 䎖䎔䎑䎖䎛 ̣䎃 䎔䎓䎓䎑䎓䎓 ̣䎃 䎔䎓䎓䎑䎓䎓䎃 ̣
䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎓䎓䎑䎓䎓䎃 䎔䎓䎓䎑䎓䎓 䎔䎓䎓䎑䎓䎓 䎔䎓䎓䎑䎓䎓 䎔䎓䎓䎑䎓䎓 䎔䎓䎓䎑䎓䎓 䎔䎓䎓䎑䎓䎓 䎔䎓䎓䎑䎓䎓䎃 䎘䎓䎑䎓䎓䎃 ̣
ࡴ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎙䎑䎗䎔䎃 䎜䎑䎘䎛 䎗䎓䎑䎓䎓 䎘䎓䎑䎓䎓 䎔䎚䎑䎔䎜 䎖䎑䎚䎓 䎖䎓䎑䎓䎓 䎘䎓䎑䎓䎓䎃 䎘䎓䎑䎓䎓䎃 ̣
䎾䎔䏀䎃 Ё䗳䎃
ޣ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎙䎑䎗䎔䎃 䎜䎑䎘䎛 䎗䎓䎑䎓䎓 䎘䎓䎑䎓䎓 䎔䎚䎑䎔䎜 䎖䎑䎚䎓 䎖䎓䎑䎓䎓 䎘䎓䎑䎓䎓䎃 䎘䎓䎑䎓䎓䎃 ̣
䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎓䎓䎑䎓䎓䎃 䎔䎓䎓䎑䎓䎓 䎔䎓䎓䎑䎓䎓 䎘䎓䎑䎓䎓 䎔䎓䎓䎑䎓䎓 䎔䎓䎓䎑䎓䎓 䎔䎓䎓䎑䎓䎓 䎘䎓䎑䎓䎓䎃 䎕䎘䎑䎓䎓䎃 ̣
ࡴ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎙䎑䎗䎔䎃 䎕䎑䎓䎜 䎘䎑䎓䎓 䎘䎓䎑䎓䎓 䎔䎖䎑䎜䎕 䎔䎑䎖䎖 䎘䎑䎓䎓 䎘䎓䎑䎓䎓䎃 䎕䎘䎑䎓䎓䎃 ̣
䎾䎕䏀䎃 Ԣ䗳䎃
ޣ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎙䎑䎗䎔䎃 䎕䎑䎓䎜 䎘䎑䎓䎓 䎘䎓䎑䎓䎓 䎔䎖䎑䎜䎕 䎔䎑䎖䎖 䎘䎑䎓䎓 䎘䎓䎑䎓䎓䎃 䎕䎘䎑䎓䎓䎃 ̣
䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎘䎑䎓䎓䎃 䎘䎑䎓䎓 䎘䎑䎓䎓 䎘䎑䎓䎓 䎘䎑䎓䎓 䎘䎑䎓䎓 䎘䎑䎓䎓 䎘䎑䎓䎓䎃 䎘䎑䎓䎓䎃 ̣
ࡴ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎓䎑䎓䎓䎃 䎕䎑䎓䎜 䎘䎑䎓䎓 䎔䎓䎑䎓䎓 䎔䎓䎑䎓䎓 䎔䎑䎖䎖 䎘䎑䎓䎓 䎔䎓䎑䎓䎓䎃 䎔䎓䎑䎓䎓䎃 ̣
䎾䎖䏀䎃 Ԣ䗳 䎕䎃
ޣ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎓䎑䎓䎓䎃 䎕䎑䎓䎜 䎘䎑䎓䎓 䎔䎓䎑䎓䎓 䎔䎓䎑䎓䎓 䎔䎑䎖䎖 䎘䎑䎓䎓 䎔䎓䎑䎓䎓䎃 䎔䎓䎑䎓䎓䎃 ̣
䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎕䎓䎑䎓䎓䎃 ̣䎃 䎔䎕䎓䎑䎓䎓 ̣䎃 䎔䎕䎓䎑䎓䎓 ̣䎃 䎔䎕䎓䎑䎓䎓 ̣䎃 䎔䎕䎓䎑䎓䎓䎃 ̣
ࡴ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎕䎓䎑䎓䎓䎃 ̣䎃 䎔䎕䎓䎑䎓䎓 ̣䎃 䎔䎕䎓䎑䎓䎓 ̣䎃 䎔䎕䎓䎑䎓䎓 ̣䎃 䎔䎕䎓䎑䎓䎓䎃 ̣
䎾䎗䏀䎃 催䗳 䎕䎃
ޣ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎕䎓䎑䎓䎓䎃 ̣䎃 䎔䎕䎓䎑䎓䎓 ̣䎃 䎔䎕䎓䎑䎓䎓 ̣䎃 䎔䎕䎓䎑䎓䎓 ̣䎃 䎔䎕䎓䎑䎓䎓䎃 ̣
䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎔䎓䎓䎑䎓䎓䎃 ̣䎃 䎘䎓䎑䎓䎓 ̣䎃 䎔䎓䎓䎑䎓䎓 ̣䎃 䎘䎓䎑䎓䎓 ̣䎃 䎔䎓䎑䎓䎓䎃 ̣
ࡴ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎕䎑䎓䎖䎃 ̣䎃 䎘䎑䎓䎓 ̣䎃 䎖䎑䎛䎔 ̣䎃䎘䎑䎓䎓 ̣䎃 䎔䎓䎑䎓䎓䎃 ̣
䎾䎘䏀䎃
ᡸ㔽䎃
ᓔᬒ䎃
ޣ䗳ᑺ↨䎃 䎱䎦䎃 䎶䎃 䎕䎑䎓䎖䎃 ̣䎃 䎘䎑䎓䎓 ̣䎃 䎖䎑䎛䎔 ̣䎃䎘䎑䎓䎓 ̣䎃 䎔䎓䎑䎓䎓䎃 ̣