IAI America ACON-CY - Manual (Page 49)

37
4. Position T
able Settings
(9) Acceleration/
deceleration
mode
x This field defines the acceleration/deceleration pattern characteristics.
The factory setting is “0.”
0: Trapezoid
pattern
1: S-motion
2: Primary delay filter
Caution: [1] Even if you issue a position command or high-value command with specified S-motion
acceleration/deceleration in order to change moving speed while the actuator is operating,
trapezoid control, rather than S-motion acceleration/deceleration control, is performed.
Make sure to issue a command when the actuator is stopped.
[2] S-motion acceleration/deceleration is disabled in the index mode of the rotary actuator.
Trapezoid control is performed even if S-motion acceleration/deceleration control is specified.
[3] If acceleration or deceleration time exceeding 2 seconds is set, do not command S-motion
acceleration/deceleration control. Normal operation cannot be performed.
[4] Do not suspend the operation during acceleration or deceleration. The speed changes
(accelerates), which may be dangerous.
Trapezoid pattern
Speed
Acceleration Deceleration
Time
* Set the acceleration and deceleration in the “Acceleration” and “Deceleration” fields of the
position table.
S-motion
Speed
Time
When this pattern is selected, the motor accelerates along a curve that rises gradually to a
certain point and then climbs quickly.
Use this pattern when you want to set high acceleration/deceleration to meet the required tact
time while still allowing the motor to accelerate and decelerate gradually at the start of
movement and immediately before stopping.
* The level of S-motion is set in Parameter No. 56 (S-motion ratio setting). The setting unit is
“%,” and the setting range is “0” to “100.”
(The above graph is based on a setting of 100%.)
If “0” is set, the S-motion function is disabled.
Take note that this setting is not reflected in jogging or inching performed from a PC or
teaching pendant.