IAI America CON-PG - Manual (Page 177)

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7. Operation of MEC Controllers
[4] Deceleration [G] ... Set the deceleration (G) at which the actuator stops.
(Reference) Acceleration is explained. The same concept applies to deceleration.
1 G = 9800 mm/s
2 : Acceleration at which the actuator can accelerate to
up to 9800 mm/s per second
0.3 G: Acceleration at which the actuator can accelerate to up to 9800
mm/s x 0.3 = 2940 mm/s
Setting the acceleration/deceleration
(1) Make sure the acceleration/deceleration you set does not exceed the rated
acceleration/deceleration stated in the catalog or this operation manual. If the rated
acceleration/deceleration is exceeded, the life of the actuator may drop significantly.
(2) If the actuator or load receives impact or vibrates, lower the acceleration/deceleration. If the
actuator is used continuously in such condition, the life of the actuator will drop significantly.
(3) If the transferable weight is significantly smaller than the rated loading capacity,
accelerations/decelerations greater than the rating may be set. You can shorten the tact time this
way, so contact IAI if you are interested. When contacting IAI, let us know the weight, shape and
installation method of the load as well as installation condition of the actuator (horizontal/vertical).
[5] Push force [%] ... Set the push torque (current-limiting value) to be used in push-motion
operation as a percent (%) value.
Increasing the current-limiting value increases the push force.
If “0” is set, positioning operation is performed.
[For the relationship of push force and current-limiting value, refer to the
catalog or the operation manual."
[6] Push band [mm] ... Set the travel during push-motion operation.
When push-motion operation is performed, the actuator moves at the speed
and rated torque set as part of positioning information, just like normal
positioning, until the remaining travel enters the range set here. Once the
remaining travel enters this range, the actuator moves to the position set in
[1] while pushing the load.
The speed of push-motion operation is set in parameter No. 7. Do not use
any setting that causes this speed to be exceeded.
If the setting in [2] is less than the push speed, the actuator pushes the load
at the set speed.
How the actuator operates as it pushes the work toward the end point, start
point and intermediate point is illustrated below.
Caution
Speed
Time