IAI America SCON-C - Manual (Page 96)

78
Position
(2) Position
 Enter the target position to move the actuator to, in [mm].
Absolute mode: Enter the target position to move the actuator to, using
the distance from the home.
Incremental mode: Enter the target position to move the actuator to, using
the distance from the current position. A negative value
can also be entered (a negative value indicates a
distance in the negative direction of displayed
coordinates).
(3) Speed
 Enter the speed at which the actuator will be moved, in [mm/sec].
The default value varies depending on the actuator type.
(4) Acceleration/deceleration
 Enter the acceleration/deceleration at which to move the actuator, in [G].
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 to
accommodate situations where you want to “reduce the tact time when the
load mass is significantly smaller than the rated load capacity.”
If vibration of the load causes problem during acceleration/deceleration,
decrease the set value.
Caution: Refer to the attached list of supported actuator specifications and set appropriate speed and
acceleration/deceleration so that the actuator will not receive excessive impact or vibration under the
applicable installation condition and for the load of the specific shape.
Increasing the speed and acceleration/deceleration may significantly impact the actuator depending on
the load mass, and the actuator characteristics also vary from one model to another. Contact IAI for
the maximum limits that can be entered in your specific application.
Speed
Acceleration
0.3G
Deceleration
0.2G
Time
Starting
position Target
position
Increasing the set value makes the acceleration/deceleration
quicker while decreasing the value makes it more gradual.
Absolute mode 30 mm from the home
Incremental mode +10 mm from the current position
Incremental mode -10 mm from the current position
Absolute mode 100mm from the home
On the teaching pendant RCM-T, these signs indicate that the
data was entered in the relative coordinate specification mode.