IAI America PCON-CFA - Manual (Page 245)

4. SCON-CA
239
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
Time
Caution: [1] Even if a position command or direct value command with S-shaped motion setting is
issued when the actuator is running, S-shaped motion control will not be executed. Issue
these commands when the actuator is stopped.
[2] When the index mode is set on the rotary actuator, S-shaped motion is not executed, and,
instead, trapezoid control will be executed.
[3] Set the acceleration/deceleration speed so that the time for each will be within two
seconds.
[4] An input to pause is not allowed during acceleration or deceleration. It may cause an
excessive change in speed.
[5] If a large value is set, the speed will accelerate significantly at around the mid-point of
the acceleration/deceleration time. Do not exceed the rated acceleration/deceleration
time of the actuator.