IAI America ERC3 - Manual (Page 335)

Chapter 6
Adjustment of Operation
6.3 I/O Parameter 6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse
Train Control Mode
325
(41) S-motion rate (Parameter No.56)
No. Name Symbol Unit Input Range Default factory setting
56 S-motion rate SCRV % 0 to 100 0
This parameter is used when the value in the “Acceleration/deceleration mode” field of the
position table is set to “1 [S-motion]”.
This enables to ease the impact at acceleration and deceleration without making the takt time
longer.
Velocity
Time 0
Swing width
Acceleration time
The S-motion is a sine curve that has the acceleration time as 1 cycle.
The level of its swing width can be set by this parameter.
Setting of Parameter No.56 [%] Level of swing width
0 [Set in delivery] No S-motion (Dotted line shown in the image below)
100
Sine curve swing width × 1 (Double-dashed line shown in the image
below)
50 Sine curve swing width × 0.5 (Dashed line shown in the image below)
10 Sine curve swing width × 0.1 (Solid line shown in the image below)
Velocity
Time
Setting: 10
Setting: 50
Setting: 100
0
within 2 seconds (Caution (3))
Caution: 1) If the S-motion is specified in acceleration/deceleration mode, executing
position command or direct value command while the actuator is moving
causes an actuator to move along the trapezoid pattern. To change a
speed during operation, be sure to specify such a position command while
the actuator is in pause state.
2) If acceleration time or deceleration time exceeds 2 seconds, do not specify
S-motion control. The actuator will fail to operate normally.
3) Do not perform temporary stop during acceleration or deceleration. The
speed change (acceleration) may cause the dangerous situation.