IAI America MSCON - Manual (Page 80)

3.3 Setting of Position Data
72
3) Velocity [mm/s]···· Set the velocity in the operation.
Do not attempt to input a value more than the maximum velocity or less
than the minimum velocity *1 .
*1 Minimum velocity [mm/sec] =
Lead length [mm] / Number of encoder pulse / 0.001 [sec]
4) Acceleration [G] ·· Set the acceleration at start.
5) Deceleration [G] ·· Set the deceleration at stop.
(Reference) How to set the acceleration is described below The same idea
can be applied to the deceleration.
1G=9800mm/s 2 : Acceleration capable to accelerate up to
9800mm/s per second
0.3G : Acceleration capable to accelerate up to 9800mm/s × 0.3
= 2940mm/s per second
 
Caution: (1) Set the velocity, acceleration and deceleration so that they do not
exceed the rating values described in the brochure or the catalog or
instruction manual of the actuator. The setting that exceeds the rated
acceleration/deceleration speed may shorten the actuator life
remarkably.
(2) Consider to lower the acceleration/deceleration speed when a shock
or vibration is applied to the actuator or work. In such cases, do not
continue the use of the actuator, otherwise the product life may be
shortened extremely fast.
(3) If the payload is extremely lighter than the rated payload, increase
acceleration/deceleration to larger than their rated values to shorten
the tact time. Contact our company. Inform us of the weight, shape and
mounting method of the work and the installation conditions of the
actuator.
(4) For the gripper type, have the setting done for the speed and
acceleration/deceleration in the basis of one finger. Therefore, note
that the relative speed and acceleration/deceleration speed become
twice as it is set for the two fingers.
6) Pressing [%] ······· Setting proper data here allows pressing to be done.
Set a pressing torque (limit current value) in %. If the value is set to 0,
the normal positioning operation is performed.
The speed for the pressing operation is set in Parameter No.34.
If the setting done in 3) is less than the pressing speed setting value, the
pressing operation is performed at this setting value.
7) Threshold [%] ····· Set the threshold value of the pressing torque in %.
If the torque (load current) becomes larger than this setting value during
pressing, the detection signal is output. This feature is used to monitor
the load current and judge whether the operation is good or not in such
an operation as press fitting in pressing.
Velocity
Time
9800mm/s
1s
1G
2940mm/s
0.3G