IAI America MSCON - Manual (Page 222)

3.8 Control and functions of Input and output signals of Remote I/O Mode
214
[4] Speed change during the movement
„ Sample use
No.
Position
[mm]
Velicoty
[mm/s]
Accele-
ration
[G]
Decele-
ration
[G]
Pressing
[%]
Thresh-
old
[%]
Positioning
width
[mm]
Zone+
[mm]
Zone-
[mm]
Acceleration/
Deceleration
mode
Incre-
mental
Gain
set
Stop
mode
0 0.00 100.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
1 0.00 50.00 0.20 0.20 0 0 100.00 0.00 0.00 0 0 0 0
2 150.00 200.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
„ Control method
The speed of the actuator can be changed while it moves. The operation control method is the
same as that in [3] Positioning. This pattern prioritizes the start signal specified later over the
previous signal. Accordingly if another position No. is started during operation, then the new
operation begins. This can be used to change the speed.
1) In this example, the speed is changed while the actuator moves from the position of 150mm
to the position of 0mm. At first, set the positioning to the target position at the first speed in
position No.1. In the positioning width, set the distance from the speed change position to
the target position. The value is set to 100mm in the example. Thus, for position No.1,
position sensing signal LS1 is turned ON at the position before the target position by 100mm.
2) Set the positioning to the target position at the second speed in position No.0.
3) Then start position No.1 (ST1 signal) and use position sensing output signal LS1 of position
No.1 to start position No.0 (ST0 signal). Since this pattern prioritizes the signal specified later
over the previous signal, the operation of No.1 is changed to the operation of No.0 during the
operation of No.1.
(Note) If there is a signal commanded afterwards, the commanded signal will start activating
once the previously commanded signal is turned OFF.
4) Use position sensing signal LS0 of position No.0 to turn the ST1 signal OFF.
In this example, the target positions No.0 and 1 are equal with each other. They may not be the
same. However, setting the target positions to be equal with each other allows the distance
from the speed change position to the target position to be known easily.
Depending on the timing when the actuator accepts the input signal, the speed change may be
delayed a little. Changing the positioning width can adjust the timing.
Liquid injection unit
The unit inserts nozzles into containers, injects liquid, and
moves the nozzles upward so that they may not be contact
with the liquid surfaces.
Positioning complete width at position 2
Stop
status
Acceleration
Position 1
LS signal
output
Start signal
input for
position 1
(moveing
start)
Moving
comp.
Acceleration
Deceleration
Position 1
Position 2
2) 3) 1) 4) 5)
100mm/sec
50mm/sec
2) 3) 1) 4) 5)
Start signal
input for
position 0
Position 0
LS signal
output
Velocity
Time