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264 264 F e F f F g F ext m F y F x Magnei pih τ m [mm] The distance between two equal poles. rod beaings The material and type of bearings. Housing maeial The material of the motor housing. Dieion of movemen The direction of movement is reversible, determined by the control electronics. Foe alulaion To move a mass on a slope, the motor needs to deliver a force to accelerate the load and overcome all forces opposing the movement. The sum of forces shown in above gure has to be equal to: Entering the various forces in this equation it follows that: Σ F = m · a [N] F e - F ext - F f - F x = m · a [N] where: F e : Continuous force delivered by motor [N] F ext : External force [N] F f : Friction force F f = m · g · ⋅ cos ( ) [N] F x : Parallel force F x = m · g · sin ( ) [N] m : Total mass [kg] g : Gravity acceleration [m/s 2 ] a : Acceleration [m/s 2 ] Speed po les Shifting any load from point A to point B is subject to the laws of kinematics. Equations of a uniform straight-line movement and uniformly accelerated movement allow de nition of the various speed vs. time pro les. Prior to calculating the continuous duty force delivered by the motor, a speed pro le representing the various load movements needs to be de ned. tiangula speed po le The triangular speed pro le simply consists of an accelera- tion and a deceleration time. v = 2 · s a · t ___ = a · s t 2 = ________ [m/s] Speed: t/2 t/2 Time (s) Speed (m/s) t The shaded area equals the movement length during time t. a = 4 · s v v 2 ____ = 2 · ____ = ____ t 2 t s Acceleration: [m/s 2 ] s 1 1 v 2 = ___ · v · 2 4 a t = ___ · a · t 2 = ____ Displacement: [m] Linea Dc-Sevomoos Technical Information
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