Chapter 1 Specications Check 1.2 Mechanical Specications
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1.2.8 Duty of Continuous Operation
Perform operation at the allowable duty or below.
[How to Calculate Duty]
Figure out the load factor LF and acceleration / deceleration time ratio tod, and read the reference
for the duty from the graph.
There are two patterns as shown below depending on the movement distance and acceleration /
deceleration, and the way to calculate differs for each.
a) How to Check Operation Pattern
It can be judged whether it will be 1) Trapezoid Pattern or 2) Triangle Pattern by the reached
velocity whether it is higher or lower than the set velocity when operation is made in the set
acceleration for the movement distance S.
Reached Velocity Vmax [mm/s] = √[Stroke St ×Set Accelerationα ]
= √[ St [mm] x 9,800 [mm/S
2
] ×Set Accelerationα [G] ] [mm/s]
As a result; Set Velocity V < Reached Velocity Vmax …1) Trapezoid Pattern
Set Velocity V ˃ Reached Velocity Vmax …2) Triangle Pattern
b) Load Factor LF
Load Factor LF = (M x α) / (Mr x αr) [%]
Set Payload Mr [kg] : Max. payload of set acceleration ar
Set Acceleration αr [G] : Acceleration when capable to transport set payload Mr
Transported Weight at Operation M [kg] : Mass of an object actually transported (M ≤ Mr)
Acceleration / Deceleration at Operation α [G] : Acceleration / deceleration commanded to
controller (α ≤ αr)
1) Trapezoid Pattern
Velocity
mm/s
Acceleration
Re
ion
Positioning Time
Deceleration
Region
Constant Velocity
Range
Time
S
Positioning
Convergence
Time
2
Trian
le Pattern
Velocity
mm/s
Time
S
Acceleration
Re
ion
Deceleration
Region
Positioning
Convergence
Time
Positioning Time
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