IAI America PCON-CFA - Manual (Page 81)

2. ACON-C/CG,
PCON-C/CG
75
Set value of speed or
acceleration/deceleration
Actuator speed
Speed n2
Speed n3
[1]
[2]
[3]
(4) Data change during movement
In the half direct mode or full direct mode, the value currently set to a given channel among the channels for target
position data, acceleration/deceleration data, speed data, positioning band and push-motion current-limiting value,
can be changed while the actuator is moving.
After a desired data has been changed, keep the positioning command (DSTR) signal “ON” for at least tdpf.
Also make sure that after the DSTR is turned “OFF,” the signal will not be turned “ON” again until at least a time
corresponding to “twcsON + twcsOFF” elapses.
An example of changing the speed or acceleration/deceleration is shown in the figure below.
1. If the speed is not set or “0” speed is set, the actuator will remain stationary and no alarm will
generate.
2. If the speed is changed to “0” while the actuator is moving, the actuator will decelerate to a stop and
no alarm will generate.
3. Even when the acceleration/deceleration or speed data alone is changed while the actuator is
moving, the target position data must also be set.
4. Even when the target position alone is changed while the actuator is moving, the
acceleration/deceleration and speed data must also be set.
Caution