IAI America ACON-CG - Manual (Page 145)

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8. Parameters
z Home-sensor input polarity (No. 18 AIOF)
Parameter No. 18 defines the input polarity of the home sensor.
With the current models of RCA actuators, the factory setting is “0 [Sensor not used]” because these models do
not adopt the home sensor method.
This parameter is provided to help develop new actuator models that support the home sensor method. The
customer is advised not to change the default setting.
Definition of setting: 0 (Sensor not used)
1 (Home sensor used, and the sensor polarity is contact a)
2 (Home sensor used, and the sensor polarity is contact b)
z Primary-filter time constant for position command (No. 55 PLPF)
Parameter No. 55 defines the level of primary delay to be applied when the value set in the
“Acceleration/deceleration mode” field of the position table is “2 [Primary delay filter].”
The minimum input unit is 0.1 msec and the setting range is from 0.0 to 100.0.
The factory setting is “0 [msec].”
* If “0” is set, the primary delay filter mode will be disabled.
The greater the value set in this parameter, the greater the level of delay becomes.
z S-motion ratio setting
Parameter No. 56 defines the slope of S-motion acceleration/deceleration to be applied when the value set in the
“Acceleration/deceleration mode” field of the position table is “1 (S-motion).”
The setting unit is %, and the setting range is 0 to 100.
The factory setting is “0%” (S-motion is disabled).
In the S-motion mode, a sine wave is drawn where the acceleration time corresponds to one cycle.
Specify a desired amplitude level using parameter No. 56.
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.
Setting of parameter
No. 56 [%]
Amplitude level
0 [Factory setting] No S-motion (dotted line in the figure below)
100
Sine wave amplitude x 1 (two-dot chain line in the figure
below)
50
Sine wave amplitude x 0.5 (one-dot chain line in the figure
below)
10 Sine wave amplitude x 0.1 (solid line in the figure below)
Speed
Time
Amplitude
Acceleration time
Speed
Time
Setting: 50 Setting: 10
Setting: 100