IAI America RCS-E - Manual (Page 45)

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3.1 Description of Position-Data Table
(1) No.
 Indicate the position data number.
To enter an incremental movement, press the minus key in this column.
On the teaching pendant, a “=” will be displayed between the number
and position columns.
The minus key need not be pressed in the absolute mode.
(2) Position (Position)
 Enter the target position to move the actuator to, in [mm].
Absolute mode: Enter the distance to the target actuator position from
the home. Negative values cannot be entered.
Incremental mode: Enter the distance to the target actuator position from
the current position. A negative value can also be
entered (for movement in the negative direction along
the displayed coordinate axis).
No. Position
0 30 Absolute mode 30 mm from the home
1 10 Incremental mode +10 mm from the current position
2 -10 Incremental mode -10 mm from the current position
3 100 Absolute mode 100 mm from the home
(3) Speed (Speed)
 Enter the speed at which the actuator will be moved, in [mm/sec].
The default value varies depending on the actuator type.
(4) Acceleration/deceleration
(ACC)
 Enter the acceleration/deceleration at which the actuator will be moved,
in [G].
The acceleration should basically conform to the rating specified in the
catalog.
With RCS controllers, an acceleration level above the rating can be used
to shorten the tact time only if the actuator is used in a condition where
“the payload is significantly smaller than the rated loading capacity.”
To deal with this situation, the “Acc” field in the position table allows for
input of values greater than the rated acceleration.
Caution: When setting speed and acceleration/deceleration, refer to the supplied specification list of
supported actuators and also consider the installation condition and load shape to determine
appropriate values that will not cause the actuator to receive excessive impact or vibration.
To set values higher than the recommended values, the payload should be considered and
the actuator characteristics vary depending on the model. Therefore, for the maximum
settings allowed for each actuator model, please contact IAI’s Sales Engineering Section.
=
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Speed
(Speed)
Acceleration/deceleration (ACC)
Start Completion Time
Acceleration/deceleration G --- MIN 0.01 G (Slow rise)
MAX 1.00 G (Quick rise)
Acceleration/deceleration G