IAI America PCON-CFA - Manual (Page 143)

4. PCON-CA/CF
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CC-Link
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(29) Acceleration/Deceleration Mode (MOD1, MOD0)
This signal is used to select the acceleration/deceleration pattern characteristics. Select one of them
before the actuator movement command.
MOD1 MOD0 Pattern Name Remarks
OFF OFF Trapezoid Pattern Set in delivery
OFF ON S-shaped Motion
ON OFF First-Order Lag Filter
ON ON Unavailable
Trapezoid Pattern
* The Acceleration and Deceleration are set in the “Acceleration” and “Deceleration”
data boxes on the position data.
S-shaped Motion
The S-shaped curve is described where at first in the acceleration, the line is gentle, but along
the way, it suddenly becomes steep.
Use it in such application that setting the acceleration/deceleration rate high is desired
because high tact time is required, but in the movement start or immediately before stop, low
acceleration/deceleration rate is favorable.
* The S-shaped motion degree is set using the parameter No. 56 “S-Shaped Motion Ratio
Setting”. The setting unit is % and setting range is from “0” to “100”.
(The above figure shows the image graph with the Parameter No. 56 set to “100”.
When it is set to “0”, the S-shaped motion is disabled.
However, note that this setting cannot be reflected to the jog and inching operations
performed on a teaching tool such as PC.
First-Order Lag Filter
This describes much gentle acceleration/deceleration curve than that for the linear
acceleration/deceleration (trapezoid pattern). Use it when it is not desired to give any slight
vibration to the work in acceleration/deceleration operation.
* The first-order lag degree set using the parameter No. 55 “Position Command Primary Filter
Time Constant”. The minimum input unit is 0.1msec and setting range is from “0.0” to
“100.0”.
When it is set to “0”, the first-order lag filter is disabled.
However, note that this setting cannot be reflected to the jog and inching operations
performed on a teaching tool such as PC.
PLC Output Signal
Speed
Acceleration Deceleration
Time
Speed
Time
Speed
Time