KE-3020_动作说明书.pdf - 第50页
䎵䏈䏙 䎔䎑䎓䎃 ࡼ䇈ᯢк 䎃 䎃 䎃 3-31 䎋䎔䎌䎃 䕠 䕈ࡼ䗳 ᑺgࡴ䗳 ᑺ 䎃 ▔ܝ⌟ ᅮᯊ ⱘ 䕠 䕈䕀䗳 ࡴ 䗳ᑺ 䎃 䎃䎃 催䗳 䎃 Ё䗳ᑺ 䎃 Ԣ䗳 䎃 Ԣ䗳 䎕䎃 㾦䗳ᑺ 䎋䏎䏓䏓䏖䎌䎃 䎚䎕䎓䎃 䎖䎚䎕䎃 䎕䎓䎓䎃 ˉ 䎃 ᇍ催䗳↨ 䎋䎈䎌䎃 䎚䎕䎃 䎖䎚䎑䎕䎃 䎕䎓䎃 ˉ 䎃 㾦ࡴ䗳ᑺ 䎋䏎䏓䏓䏖䎕䎌䎃 䎖䎓䎓䎓䎓䎃 䎘䎖䎔䎙䎃 䎔䎘䎖䎙䎃 ˉ 䎃 䎯䎱䎦䎐䎫䎨䎤䎧䎃 ᇍ催䗳↨ 䎋䎈䎌䎃 䎘䎓䎃 䎛䎑䎛…
䎵䏈䏙䎔䎑䎓䎃
ࡼ䇈ᯢк䎃
䎃
䎃
3-30
䎖䎐䎘䎐䎗 䕠䕈ⱘ䗳ᑺ↨䎃
䎖䎐䎘䎐䎗䎐䎔 䕠䕈䗳ᑺᮍᓣ䎃
䕠䕈ᣝ✻ϟⱘϝ㾦ৄᔶ偅ࡼࡼDŽ䎃
䕠䕈ⱘ᳔催䗳ᑺ᳔催ࡴ䗳ᑺབϟDŽ䎃
䎃䎯䎱䎦ˈ䎬䎦䎃 䎃
䕠䕈᳔催䗳ᑺ䎃
䎔䎓䎓䎓䎃 䏎䏓䏓䏖䎃
䕠䕈᳔催ࡴ䗳ᑺ䎃
䎙䎓䎓䎓䎓䎃 䏎䏓䏓䏖
䎕
䎃
䕀ࡼ㾦䎝䎃 䎃 䕠䎃
᳔催㾦䗳ᑺ䎝䎃 Z䏐䏄䏛䎃
㾦ࡴ䗳ᑺ䎝䎃 £䎃
Speed
Time
E
E
0 T1 T
Z
T
<
E
Z
max
2
When the conditions shown to the
left are satisfied, the triangle drive is
made.
T-axis movement time calculation formula
In case of triangle drive
T
= 2
E
T
ᯊЎϝ㾦偅ࡼ
䗳ᑺ
ᯊ䯈
䕈⿏ࡼᯊ䯈ⱘ䅵ㅫᓣ
ϝ㾦偅ࡼᯊ
䎃
䕀ࡼ㾦ᇣ㾦ࡴ䗳ᑺᇣᯊዄؐ㾦䛑᳝ৃ㛑䖒ϡࠄ᳔催䗳ᑺDŽ
ℸᯊⱘ䗳ᑺᮍᓣЎⱘϝ㾦偅ࡼDŽ
Speed
Time
E
Z
Z
E
0
T
Z
max
ᯊ䯈
䗳ᑺ
䎃
E
E
0 T1 T2 T
Zmax
Speed
Time
T-axis movement time calculation formula
In case of trapezoidal drive
T =
E
Z
max
T
t
E
Z
max
2
When the conditions shown to the
left are satisfied, the trapezoidal drive
is made.
Z
max
T
ᯊЎৄᔶ偅ࡼ
䗳ᑺ
ᯊ䯈
䕈⿏ࡼᯊ䯈ⱘ䅵ㅫᓣ
ৄᔶ偅ࡼᯊ
䎵䏈䏙䎔䎑䎓䎃
ࡼ䇈ᯢк䎃
䎃
䎃
3-31
䎋䎔䎌䎃 䕠䕈ࡼ䗳ᑺgࡴ䗳ᑺ䎃
▔ܝ⌟ᅮᯊⱘ䕠䕈䕀䗳ࡴ䗳ᑺ䎃
䎃䎃催䗳䎃 Ё䗳ᑺ䎃 Ԣ䗳䎃 Ԣ䗳 䎕䎃
㾦䗳ᑺ䎋䏎䏓䏓䏖䎌䎃 䎚䎕䎓䎃 䎖䎚䎕䎃 䎕䎓䎓䎃 ˉ䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎚䎕䎃 䎖䎚䎑䎕䎃 䎕䎓䎃 ˉ䎃
㾦ࡴ䗳ᑺ䎋䏎䏓䏓䏖䎕䎌䎃 䎖䎓䎓䎓䎓䎃 䎘䎖䎔䎙䎃 䎔䎘䎖䎙䎃 ˉ䎃
䎯䎱䎦䎐䎫䎨䎤䎧䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎘䎓䎃 䎛䎑䎛䎙䎃 䎕䎑䎘䎙䎃 ˉ䎃
㾦䗳ᑺ䎋䏎䏓䏓䏖䎌䎃 䎚䎕䎓䎃 䎖䎚䎕䎃 䎕䎓䎓䎃 ˉ䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎚䎕䎃 䎖䎚䎑䎕䎃 䎕䎓䎃 ˉ䎃
㾦ࡴ䗳ᑺ䎋䏎䏓䏓䏖䎕䎌䎃 䎖䎓䎓䎓䎓䎃 䎘䎖䎔䎙䎃 䎔䎘䎖䎙䎃 ˉ䎃
䎯䎤 ⌟ᅮЁ䎃
䎬䎦䎐䎫䎨䎤䎧䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎘䎓䎃 䎛䎑䎛䎙䎃 䎕䎑䎘䎙䎃 ˉ䎃
▔ܝ⌟ᅮⱘ䕠䕈ࡼ䗳ᑺgࡴ䗳ᑺ䎃
䎃䎃催䗳䎃 Ё䗳ᑺ䎃 Ԣ䗳䎃 Ԣ䗳 䎕䎃
㾦䗳ᑺ䎋䏎䏓䏓䏖䎌䎃 䎔䎓䎓䎓䎃 䎙䎓䎓䎃 䎕䎓䎓䎃 䎔䎓䎓䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎔䎓䎓䎃 䎙䎓䎃 䎕䎓䎃 䎔䎓䎃
㾦ࡴ䗳ᑺ䎋䏎䏓䏓䏖䎕䎌䎃 䎙䎓䎓䎓䎓䎃 䎖䎓䎓䎓䎓䎃 䎔䎕䎓䎓䎃 䎙䎓䎓䎃
䎯䎱䎦䎐䎫䎨䎤䎧䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎔䎓䎓䎃 䎘䎓䎃 䎕䎃 䎔䎃
㾦䗳ᑺ䎋䏎䏓䏓䏖䎌䎃 䎔䎓䎓䎓䎃 䎙䎓䎓䎃 䎕䎓䎓䎃 䎔䎓䎓䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎔䎓䎓䎃 䎙䎓䎃 䎕䎓䎃 䎔䎓䎃
㾦ࡴ䗳ᑺ䎋䏎䏓䏓䏖䎕䎌䎃 䎙䎓䎓䎓䎓䎃 䎖䎓䎓䎓䎓䎃 䎔䎕䎓䎓䎃 䎙䎓䎓䎃
䎯䎤 ⌟ᅮ䎃
䎬䎦䎐䎫䎨䎤䎧䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎔䎓䎓䎃 䎘䎓䎃 䎕䎃 䎔䎃
Ёᖗ 䎹䎦䎶 ᯊ䕠䕈ࡼ䗳ᑺgࡴ䗳ᑺ䎃
䎃䎃催䗳䎃 Ё䗳ᑺ䎃 Ԣ䗳䎃 Ԣ䗳 䎕䎃
㾦䗳ᑺ䎋䏎䏓䏓䏖䎌䎃 䎘䎓䎓䎃 䎘䎓䎓䎃 䎕䎓䎓䎃 䎔䎓䎓䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎘䎓䎃 䎘䎓䎃 䎕䎓䎃 䎔䎓䎃
㾦ࡴ䗳ᑺ䎋䏎䏓䏓䏖䎕䎌䎃 䎙䎓䎓䎓䎓䎃 䎖䎓䎓䎓䎓䎃 䎔䎕䎓䎓䎃 䎙䎓䎓䎃
䎯䎱䎦䎐䎫䎨䎤䎧䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎔䎓䎓䎃 䎘䎓䎃 䎕䎃 䎔䎃
㾦䗳ᑺ䎋䏎䏓䏓䏖䎌䎃 䎘䎓䎓䎃 䎘䎓䎓䎃 䎕䎓䎓䎃 䎔䎓䎓䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎘䎓䎃 䎘䎓䎃 䎕䎓䎃 䎔䎓䎃
㾦ࡴ䗳ᑺ䎋䏎䏓䏓䏖䎕䎌䎃 䎙䎓䎓䎓䎓䎃 䎖䎓䎓䎓䎓䎃 䎔䎕䎓䎓䎃 䎙䎓䎓䎃
䎹䎦䎶䎃
䎬䎦䎐䎫䎨䎤䎧䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎔䎓䎓䎃 䎘䎓䎃 䎕䎃 䎔䎃
䎋⊼䎌䎃 ϡ䰘ܗӊᯊⱘ䕀䗳gࡴ䗳ᑺ䗖⫼ 䎯䎤 ⌟ᅮDŽ䎃
䎃
䎋䎕䎌䎃 䕈݊Ҫࡼ T䎃
ॳ⚍ԡⱘ T 䕈䕀䗳gࡴ䗳ᑺ㾘ᅮབϟDŽ䎃
ॳ⚍ԡᯊⱘ䗳ᑺgࡴ䗳ᑺϢᡸ㔽ᓔᬒˈᡸ㔽݇䯁᮴݇DŽ䎃
㾦䗳ᑺ䎋䏎䏓䏓䏖䎌䎃 䎕䎓䎓䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎕䎓䎃
㾦ࡴ䗳ᑺ䎋䏎䏓䏓䏖䎕䎌䎃 䎔䎕䎓䎓䎃
䎯䎱䎦䎐䎫䎨䎤䎧䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎕䎃
㾦䗳ᑺ䎋䏎䏓䏓䏖䎌䎃 䎕䎓䎓䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎕䎓䎃
㾦ࡴ䗳ᑺ䎋䏎䏓䏓䏖䎕䎌䎃 䎔䎕䎓䎓䎃
ॳ⚍ԡ䎃
䎬䎦䎐䎫䎨䎤䎧䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎕䎃
䎋⊼䎌䎃 ϡ䰘ܗӊⱘ䗖⫼Ԣ䗳DŽ䎃
ℹ偸⿏ࡼᯊⱘ䗳ᑺࡴ䗳ᑺ㾘ᅮབϟDŽ䎃
ℹ偸⿏ࡼᯊⱘ䗳ᑺࡴ䗳ᑺϢᡸ㔽ᓔᬒˈᡸ㔽݇䯁᮴݇DŽ䎃
䎃䎃催䗳䎃 ᖂ䗳䎃
㾦䗳ᑺ䎋䏎䏓䏓䏖䎌䎃 䎕䎘䎓䎃 䎔䎓䎓䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎕䎘䎃 䎔䎓䎃
㾦ࡴ䗳ᑺ䎋䏎䏓䏓䏖䎕䎌䎃 䎔䎘䎓䎓䎓䎃 䎜䎓䎓䎓䎃
䎯䎱䎦䎐䎫䎨䎤䎧䎃
ᇍ催䗳↨䎋䎈䎌䎃
䎕䎘䎃 䎔䎘䎃
㾦䗳ᑺ䎋䏎䏓䏓䏖䎌䎃 䎕䎘䎓䎃 䎔䎓䎓䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎕䎘䎃 䎔䎓䎃
㾦ࡴ䗳ᑺ䎋䏎䏓䏓䏖䎕䎌䎃 䎔䎘䎓䎓䎓䎃 䎜䎓䎓䎓䎃
ℹ偸䎃
䎬䎦䎐䎫䎨䎤䎧䎃
ᇍ催䗳↨䎋䎈䎌䎃 䎕䎘䎃 䎔䎘䎃
䎵䏈䏙䎔䎑䎓䎃
ࡼ䇈ᯢк䎃
䎃
䎃
3-32
䎖䎐䎙 㢃⠛䏇䍋Ẕ⌟䎃
䎖䎐䎙䎐䎔 ὖ㽕䎃
䖯㸠㢃⠛Ẕ⌟ⱘᯊ䯈ᰃˈ䰘ৢˈ䎻䎼 ᓔྟ⿏ࡼৠᯊ䖯㸠ⱘ▔ܝ⌟ᅮৢ䖯㸠DŽ㢃⠛䏇䍋Ẕ⌟ᰃᡞ 䎽 䕈
⿏ࡼࠄ㹿䰘ⱘܗӊ८ᑺ䅵ㅫߎⱘ催ᑺˈ⫼▔ܝ䖯㸠ᠿᦣˈᴹ߸ᅮ᳝᮴Ẕ⌟ߎⱘܗӊDŽ䰸ᅲᮑ㢃⠛䏇
䍋Ẕ⌟Пˈ䖬ৃҹ⫼ܗӊ᭄ৢ᭄ᴹ䗝ᢽDŽ䖯㸠㢃⠛䏇䍋Ẕ⌟Пৢˈ᳝ৃ㛑থ⫳ 䎻䎼 ⱘ⿏ࡼ
䎱⾏ǃ䰘ᮍ⊩ㄝ䗴៤ᕾ⦃਼ᳳ䖳ⱘ⦄䈵DŽ䎃
䎃
䎖䎐䎙䎐䎕 ߸ᅮᮍ⊩䎃
㢃⠛䏇䍋Џ㽕䗖⫼Ѣᮍ㢃⠛᷅ᔶ㢃⠛ˈᡞ㋏᭄˄䎤˅ࡴϞܗӊ᭄䕧ܹⱘܗӊ८ᑺ 䏗 䅵ㅫߎⱘؐЎ
▔ܝ催ᑺ䖯㸠ᠿᦣDŽ䎃
䎃
ⷁ䖍ሎᇌ䎃 ㋏᭄䎃 Џ㽕ܗӊ䎃
䎓䎑䎗䎘 ҹϞ䎃 䎔䎑䎕䎘䎃 䎕䎓䎔䎕ǃ䎔䎙䎓䎛 ܗӊ
䎓䎑䎕䎘 ҹϞǃϡ䎇 䎓䎑䎗䎘䎃 䎔䎑䎕䎓䎃 䎓䎙䎓䎖 ܗӊ䎃
ϡ䎇 䎓䎑䎕䎘䎃 䎔䎑䎕䎘䎃 䎓䎗䎓䎕 ܗӊ䎃
䎃
㩷
䎃
䎃
䎃
䎃
䎃
䎃
䎃
㩷
ℷᐌ䰘ᯊˈ䎶䏗䏄䏗䏘䏖䎃䎓˄䎱䎲䎃䎦䏒䏐䏓䏒䏑䏈䏑䏗˅Ў᭄㹿ড作ˈԚᰃ㢃⠛䏇䍋⢊ᗕˈЎ▔ܝ䙂ܗӊˈ䎓
ҹⱘ 䎶䏗䏄䏗䏘䏖 㹿ড作ˈℸᯊ߸ᅮЎ㢃⠛䏇䍋ˈ䗔ߎ㢃⠛DŽ䎃
㩷
ᱜᏱๆ⌕ ᮮ┙䈤 ❑┙䈤 ᢳ䉄┙䈤
#6
ℷᐌ䰘䎃䎃䎃䎃䎃῾䏇䍋䎃䎃䎃䎃䎃䎃㒉䏇䍋䎃䎃䎃䎃䎃᭰䏇䍋䎃
䎃
ܗӊሎᇌ䎃