IAI America ERC2 - Manual (Page 85)

5. Explanation of Operating Functions
66
Position command
Positioning start
(CSTR)
Position complete
(PEND)
Completed
position
Moving (MOVE)
Actuator
movement
Speed
Position 1 Position 2
Position 1
Position 2
Position 1
(200 mm)
Position 2
(300 mm)
Comment
Position
[mm]
Speed
[mm]
Acceleration
[G]
Deceleration
[G]
Push
[%]
Positioning
band [mm]
5.3.7 Speed Change during Movement
Speed control involving multiple speed levels is possible in a single operation. The actuator speed can be
decreased or increased at a certain point during movement.
However, the position at which to implement each speed change must be set.
The speed change operation explained above is useful when, among others, the load is made of soft material or
is a bottle or other shape that easily topples and you don’t want to give vibration or shock to the work part when
the actuator stops.
(Example) Move the actuator to position 2 (300 mm from the home) at 200 mm/sec until interim position 1 (200
mm from the home) and at 20 mm/sec thereafter.
Example of position table
*T1: Set to T1 t 0 (ms) by considering the scan time of the host controller.
Position 1 Position 2 Position 1 Position 2 Position 1 Position 2 Position 3