IAI America ACON-CG - Manual (Page 86)

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6. Data Entry <Basics>
(4) Positioning band was entered with a wrong sign
Take note that if a value with a wrong sign is set in the “Positioning band” field of the position table, the operation
will deviate by a distance corresponding to “positioning band x 2,” as shown below.
6.2.3 Speed Change during Movement
Speed control involving multiple speed levels is possible in a single operation. The actuator speed can be
decreased or increased at a certain point during movement.
However, the position at which to implement each speed change must be set.
6.2.4 Operation at Different Acceleration and Deceleration Settings
If the work part is a CCD camera or other precision equipment, the deceleration curb at stop must be made as
gradual as possible.
To accommodate these sensitive applications, the position table has separate fields for “acceleration” and
“deceleration.”
For example, you can set the deceleration differently from the acceleration, such as setting 0.3 G (rated
acceleration) in “Acceleration” and 0.1 G in “Deceleration.”
Caution: Basically, the acceleration and deceleration should be inside the rated
acceleration/deceleration range specified in the catalog.
The input range is greater than the rated range in the catalog, but this is only to
accommodate situations where you want to “reduce the tact time when the transferring
mass is significantly smaller than the rated load capacity.”
If you want to use acceleration/deceleration settings greater than the rating, consult IAI
beforehand because it may affect the life of the actuator.
Speed
Moving
distance
Positioning
band
Positioning
band
Positioning
band
Actual position
reached (the load
was missed)
Target position
Position 1 Position 2 Position 1 Position 2 Position 1 Position 2 Position 3
Speed
Acceleration:
0.3 G Deceleration:
0.1 G
Starting
position Target
position
Time