IAI America ACON-CG - Manual (Page 82)

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6. Data Entry <Basics>
S-motion
Speed
Time
(9) Acceleration/deceleration
mode
• This field defines the acceleration/deceleration pattern characteristics.
The factory setting is “0.”
0: Trapezoid pattern
1: S-motion
2: Primary delay filter
* Acceleration and deceleration are set in the “Acceleration” and “Deceleration” fields of
the position table, respectively.
During acceleration, the actuator operates along an acceleration/deceleration curve that
gradually rises until a certain point, and then increases sharply.
Use this mode in situations where you wish to set high acceleration/deceleration levels to
reduce the tact time, but also want the actuator to accelerate or decelerate gradually
immediately after the actuator starts moving or immediately before it stops.
* The slope of S-motion acceleration/deceleration is set by parameter No. 56 (S-
motion ratio setting). The setting unit is %, and the setting range is 0 to 100.
(The graph above shows an acceleration/deceleration curve based on a S-motion
ratio of 100%.)
If “0” is set, the S-motion mode will be disabled.
Note that this setting will not be reflected in jogging or inching operations from a PC or
teaching pendant
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.
Trapezoid pattern
Speed
Acceleration Deceleration
Time