IAI America RCM-E - Manual (Page 32)

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S-shaped motion
A curve, which is gradual at the beginning of acceleration but rises sharply halfway, is
drawn.
Use it in the applications for which you want to set the acceleration/deceleration high due
to tact time requirement but desire a gradual curve at the beginning of movement or
immediately before stop.
* Set the degree of the S-shaped motion with the parameter No. 56 [S-shaped motion
ratio setting]. The setting unit is % and the setting range is between 0.0 and 100.0
(The above is the image graph when 100% setting is made.)
If “0” is set, the S-shaped motion becomes invalid.
However, it will not be reflected in jogging/increment movement by PC or Teaching
Pendant operation.
(Note) It cannot be set for the ERC2 or PCON controller. The parameter No. 56 is
reserved.
First-order delay filter
More gradual acceleration/deceleration curves are drawn than the linear
acceleration/deceleration (trapezoid pattern).
Use this in the applications by giving micro vibrations to work during
acceleration/deceleration not desired.
* Set the degree of the first-order lag with the parameter No. 55 (constant for the
position command first-order filtering). The setting unit is 0.1 msec and the setting
range is between 0.0 and 100.0.
If “0” is set, the first-lag filter will become invalid.
However, it will not be reflected in jogging/increment movement by PC or Teaching
Pendant operation.
(Note) It cannot be set for the ERC2 or PCON controller. The parameter No. 55 is
reserved.
(10) ABS/INC - Select either the absolute or incremental positioning.
0: Absolute positioning (ABS)
1: Incremental positioning (INC)
The default value is absolute positioning (ABS).
Warning: Always specify absolute coordinates for the 3-point type of PCON-C/CG, ACON-C/CG, and
SCON-C and the proximity switch type of PCON-CY and ACON-CY.
If you specify relative coordinates, a position data error will occur.
Speed
Time
Speed
Time