IAI America SCON-CA - Manual (Page 97)

Chapter 3 Operation
87
11) Acceleration / deceleration mode ······Select a proper acceleration/deceleration pattern
depending on the load.
Set
Value
Acceleration/
Deceleration Pattern
Operation
0 Trapezoid
1 S-motion
(Refer to Caution at
S-shaped Motion)
Set the S-motion rate with parameter No.56.
2 First-Order
Delay Filter
(Refer to Caution at
First-order Delay Filter)
Set the delay time constant with parameter No.55.
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Caution at S-shaped Motion:
1) Since it requires a speed change during the operation, even if having the position
command or direct command that S-shaped motion is set while the actuator is
moving, S-shaped motion control cannot be performed and will be the trapezoid
control.
Make sure to make a command while the actuator is stopped.
2) S-shaped motion control is invalid in the index mode of the rotary actuator.
It will be the trapezoid control even if S-shaped acceleration/deceleration control is
indicated
3) Do not use S-shaped acceleration/deceleration control if the setting of the
acceleration time or the deceleration time exceeds 2 seconds. It will be the
trapezoid control.
4) Do not pause on the move during acceleration or deceleration. It will change the
speed (acceleration) and may cause a danger.
� �
Caution at First-order Delay Filter:
1) Since it requires a speed change during the operation, even if having the position
command or direct command that first-order delay filter is set while the actuator is
moving, first-order delay filter control cannot be performed and will be the trapezoid
control.
Make sure to make a command while the actuator is stopped.
2) First-order delay filter control is invalid in the index mode of the rotary actuator.
It will be the trapezoid control even if first-order delay filter control is indicated
Time
Velocity
Time
Velocity
Time
Velocity