IAI America PCON-CFA - Manual (Page 72)

2. ACON-C/CG,
PCON-C/CG
66
CompoNet
(29) Acceleration/deceleration mode (MOD1, MOD0) PLC output signal
Dedicated ACON function
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 Factory setting
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, the setting is not reflected on the jog operation or inching operation performed using the teaching
tools 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 part 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, the setting is not reflected on the jog operation or inching operation performed using the
teaching tools such as PC.
Velocity
Acceleration Deceleration
Time
Velocity
Time
Velocity
Time