IAI America PCON-CFA - Manual (Page 72)

3. SCON-CA/CF
A
66
(29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal Dedicated ACON function
This signal is used to select a desired acceleration/deceleration pattern characteristic. Select one characteristic
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 Cannot be used.
Trapezoid pattern
S-motion
Speed
Acceleration Deceleration
Time
* The acceleration and deceleration are set in the “Acceleration” and
“Deceleration” fields of the position data table.
The acceleration/deceleration curve rises gradually at first and then draws a steep curve
from a certain point. Use this mode if you want to set high acceleration/deceleration to
meet the tact time requirement, but keep the acceleration/deceleration gradual at the
start of movement or immediately before stopping.
Speed
Time
* The S-motion level is set using parameter No. 56, “S-motion ratio setting.” The setting
unit is %, while the setting range is 0 to 100.
(The above graph shows a curve assuming a 100% S-motion ratio.)
When “0” is set, the S-motion mode is disabled.
Take note that this setting will not be reflected in jog or inching operation performed
using a PC or teaching pendant.
A more gradual acceleration/deceleration curve than linear acceleration/deceleration (trapezoid
pattern) is drawn. Use this mode if you don’t want the load to receive micro-vibration during
acceleration/deceleration.
Primary delay filter
Speed
Time
* The primary delay level is set using parameter No. 55, “Position-command primary
filter time constant.” The minimum input unit is 0.1 msec, while the setting range is
0.0 to 100.0.
When “0” is set, the primary delay filter is disabled.
Take note that this setting will not be reflected in jog or inching operation performed
using a PC or teaching pendant.