IAI America RCM-101-USB - Manual (Page 72)

5. Editing Position Data on CON Controllers and Older Models
60
[10] Acc/Dcl Mode:
‚
It defines the acceleration/deceleration characteristics.
The default value is 0.
0: Trapezoid pattern
1: S-shaped motion
2: First-order delay filter
Trapezoid pattern
* Set the acceleration and deceleration in the “Acc” and “Dcl” fields of the position table.
S-shaped motion
A curve, which is gradual at the beginning of acceleration but rises sharply halfway, is
drawn.
Use it in the applications for which you want to set the acceleration/deceleration high due to
cycle time requirement but desire a gradual curve at the beginning of movement or
immediately before stop.
* Set the degree of the S-shaped motion with the parameter No. 56 [S-shaped motion ratio
setting]. The setting unit is % and the setting range is between 0 and 100.
(The above is the image graph when 100% setting is made.)
If “0” is set, the S-shaped motion becomes invalid.
However, it will not be reflected in jogging/increment movement by PC or Teaching
Pendant operation.
(Note) It cannot be set for the ERC2, PCON-C or RPCON controller. The parameter No. 56 is reserved.
Speed
Acceleration Deceleration
Time
Speed
Time