This is a rule of thumb formula for a linear move. Actual move times will depend on friction, bias forces and driver program delays. {image missing} Where: Kf = Force constant (Nwt/Amp) I = Average current (Amps) M = Total moving mass (grams) X = Move distance; X = B - A (cm) C = 120000 Time to accelerate from point A then decelerate to stop at point B This is a rule of thumb for a linear start-and-stop move where Kf does not limit velocity and acceleration time is assumed to equal deceleration time (not really true). Actual move times will depend on friction, bias forces and settling time. MOVE TIME (sec) = same formula as above except C = 30000 |