IAI America PCON-CFA - Manual (Page 144)

3. PCON-CA/CF
A
138
(29) Acceleration/deceleration mode (MOD1, MOD0) [PLC output signal]
These signals are used to select the acceleration/deceleration pattern characteristics. Select a desired mode
before issuing an actuator move command.
MOD1 MOD0 Pattern name Remarks
OFF OFF Trapezoid pattern Factory setting
OFF ON S-motion
ON OFF Primary delay filter
ON ON Not available.
Trapezoid pattern
* The acceleration and deceleration are set in the “Acceleration” and “Deceleration” fields of the
position data table.
S-motion
The actuator accelerates along a curve that increases gradually at first and then rises rapidly in the
middle.
Use this mode if you want to set a high acceleration/deceleration to meet the tact time, but also want the
actuator to accelerate/decelerate gradually at 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 % and the
setting range is 0 to 100.
(The above graph assumes a S-motion ratio of 100 %.)
If “0” is set, the S-motion mode will become invalid.
Take note that this mode will not be reflected in jog or inch operation performed from a PC or
teaching pendant.
Primary delay filter
The acceleration/deceleration curve is more gradual than that of linear acceleration/deceleration
(trapezoid pattern). Use this mode if you don’t want the load to receive micro-vibration during
acceleration/deceleration.
* The primary delay level is set by parameter No. 55, “Primary filter time constant for position
command.” The minimum input unit is 0.1 msec and the setting range is 0.0 to 100.0.
If “0” is set, the primary delay mode will become invalid.
Take note that this mode will not be reflected in jog or inch operation performed from a PC or
teaching pendant.
Speed
Acceleration Deceleration
Time
Speed
Time
Speed
Time