IAI America ACON-SE User Manual

Page 55

4. Description of Operating Functions

(9) Acceleration/deceleration

mode:

y It defines the acceleration/deceleration characteristics.

The default value is 0.
0: Trapezoid pattern
1: S-shaped motion
2: First-order lag filter

Trapezoid pattern

* Set the acceleration and deceleration in the

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the position table.

S-shaped motion

A curve, which is gradual at the beginning of acceleration but rises sharply halfway, is
drawn.
Use it in the applications for which you want to set the acceleration/deceleration high
due to tact time requirement but desire a gradual curve at the beginning of movement or
immediately before stop.

* Set the degree of the S-shaped motion with the parameter No. 56 [S-shaped motion

ratio setting].
The setting unit is % and the setting range is between 0 and 100.
(The above is the image graph when 100% setting is made.)
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However, it will not be reflected in jogging/inching by PC or teaching pendant
operation.

* The acceleration/deceleration time does not change, but the

acceleration/deceleration speeds in the middle of acceleration/deceleration become
larger than those set in the position table. (double at maximum).

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.

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(accelerates), which may be dangerous.

Acceleration

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Speed

Time

Speed

Time