IAI America CON-TG - Manual (Page 47)

37
6.
Operation:
Mode
Flow
Chart
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 tact 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 PCON controller. The parameter No. 56 is reserved.
First-order delay filter
More gradual acceleration/deceleration curves are drawn than the linear
acceleration/deceleration (trapezoid pattern).
Use this in the applications by giving micro vibrations to work during
acceleration/deceleration not desired.
* Set the degree of the first-order lag with the parameter No. 55 (constant for the
position command first-order filtering). The setting unit is 0.1 msec and the
setting range is between 0.0 and 100.0.
If “0” is set, the first-lag filter will become 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 controller. The parameter No. 55
- This field is invalid.
The factory setting is 0.
Speed
Time
Speed
Time
is reserved.
(10) Cmnd Mode: