IAI America MSCON - Manual (Page 82)

3.3 Setting of Position Data
74
10) Zone - [mm] (Note) ·········· Set the coordinate value on the negative side at which position
zone output signal PZONE is turned ON.
Note: If set to Zone + < Zone -, PZONE Signal turns ON out of the ranges of Zone + and Zone -.
11) Acceleration/deceleration mode ········ Select a proper acceleration/deceleration pattern
depending on the load.
Set
value
Acceleration/Deceleration
Pattern
Operation
0 Trapezoid
Velocity
Time
1 S-shaped Motion
(Refer to Caution at
S-shaped Motion)
Velocity
Time
Set the S-motion rate with parameter No.56.
2 First-Order Delay Filter
(Refer to Caution at
First-order Delay Filter)
Velocity
Time
Set the delay time constant with parameter
No.55.
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