IAI America REXT - Manual (Page 87)


Part 1 Specification
Chapter 3 Gateway R unit
65
Part 1 Specification
(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
The acceleration and deceleration are set in the “Acceleration” and “Deceleration”
fields of the position table, respectively.
The actuator accelerates over a curve that increases gradually at first and then rises
sharply in the middle.
Use this pattern if you want to set the acceleration/deceleration high to meet the tact
time requirement, but still want the actuator to accelerate and decelerate gradually
immediately after starting and before stopping.
The S-motion level 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 assumes a ratio of 100%.)
When this parameter is set to “0,” the S-motion mode will be disabled.
Note, however, that the parameter will not be reflected in jogging or inching feed
operated from a PC or teaching pendant.
Although the acceleration/deceleration time does not change, the value of
acceleration/deceleration becomes greater than the acceleration/deceleration set
in the position table (by up to twice), as shown in the above graph.
Trapezoid Pattern
Speed
Acceleration Deceleration
Time
S-motion
Speed
Time
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