IAI America ACON-CY - Manual (Page 97)

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6. Parameter Settings
Setting: 50 Setting: 10
Setting: 100
z Home Sensor Input Polarity (No. 18 AIOF)
The input polarity of the home sensor is defined in Parameter No. 18.
Since the current RCA actuators do not adopt the home sensor mode, the factory setting is “0” [No sensor].
This parameter is provided to support future extension of actuator function. The customer is advised not to
change the setting.
Definition of settings: 0 (No sensor)
1 (Use the home sensor, and the sensor polarity conforms to “contact a” logic)
2 (Use the home sensor, and the sensor polarity conforms to “contact b” logic)
z Primary Filter Time Constant for Position Command (No. 55 PLPF)
The delay to be applied when “1” [Primary delay filter] is set in the “Acceleration/deceleration mode” field of the
position table is defined in Parameter No. 55.
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 the parameter is set to “0,” the primary delay filter is disabled.
The greater the value set in this parameter, the longer the delay becomes.
z S-motion Ratio Setting
The level of S-motion to be applied when “2” [S-motion] is set in the “Acceleration/deceleration mode” field of the
position table is defined in Parameter No. 56.
The setting unit is “%”, and the setting range is “0” to “100.”
The factory setting is 0% (= S-motion mode is disabled).
In the S-motion mode, a sine wave pattern is applied where the acceleration time corresponds to one period.
Use parameter No. 56 to specify a desired amplitude level.
Setting of parameter No. 56 [%] Amplitude level
0 [factory setting]
S-motion mode is disabled
(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)
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.
Speed
Time
Time
Amplitude
Acceleration time
Speed