IAI America CON-PG - Manual (Page 46)

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5. Operation of CON Controllers
Speed
Time
Speed
Time
Speed
Acceleration Deceleration
Time
(10) Acceleration/deceleration mode
Define the acceleration/deceleration pattern.
The factory setting is 0.
0: Trapezoid
pattern
1: S-motion
2:
Primary delay filter
Trapezoid pattern
* Set the acceleration and deceleration in the "Acc" and "Dcl" fields of the position table.
S-motion
The acceleration curve rises gradually at first and then suddenly shoots up in the middle.
Use this mode if you want to set high acceleration/deceleration to meet the required tact time, but
want to move the actuator gradually at the start of movement and immediately before stopping.
* The S-motion level is set by parameter No. 56 [S-motion ratio setting]. The setting unit is %, while the
setting range is 0 to 100.
(The graph above assumes that the parameter is set to 100%.)
If 0 is set, the S-motion control is disabled.
Note that the setting made here is not reflected in jogging or inching feed performed from a PC or
teaching pendant.
(Note) This setting is not available on ERC2 and PCON controllers. On these controllers, parameter No.
56 is reserved.
Primary delay filter
The acceleration/deceleration curve becomes more gradual than linear acceleration/deceleration
(trapezoid pattern).
Use this mode if you don't want to apply fine vibration to the load during acceleration/deceleration.
* The primary delay level is set by parameter No. 55 [Primary filter time constant for position commands].
The setting unit is 0.1 msec, while the setting range is 0.0 to 100.0.
If 0 is set, the primary delay filter is disabled.
Note that the setting made here is not reflected in jogging or inching feed performed from a PC or
teaching pendant.
(Note) This setting is not available on ERC2 and PCON controllers. On these controllers, parameter No.
55 is reserved.