IAI America ACON-SE - Manual (Page 77)

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4. Description of Operating Functions
4.4.6 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.
Applications refer to the case where the material of transferred work is soft or where it is not desired to give
vibrations or an impact to the work having the easy-to-topple shape.
(Example) If positioning is performed at position 2 (300 mm from the home position), move the actuator at a
speed of 200 mm/sec up to position 1 in mid-process (200 mm from the home position) and
subsequently at a speed of 20 mm/sec.
Example of position table
No.
Position
[mm]
Speed
[mm/s]
Acceleration
[G]
Deceleration
[G]
Push
[%]
Positioning
band
[mm] Comment
1 * * * * * *
2 200.00 300.00 0.30 0.30 0 20.00
3 380.00 20.00 0.30 0.30 0 0.10
* T1: Set T1 to 6 msec or more in consideration of the scan time of the host controller.
Position 1 Position 2 Position 1 Position 2 Position 1 Position 2 Position 3
Position command
Positioning start (CSTR)
Position complete (PEND)
Completed position
Moving (MOVE)
Actuator movement
Speed
Position 1 Position 2
Position 1
Position 2
Position 1 (200 mm) 180 mm Position 2 (300 mm)
* *