IAI MCON-C, Instruction Manual

Page: 90 / 480

80
11) Acceleration/deceleration mode ········ Select a proper acceleration/deceleration pattern
depending on the load.
Set
value
Acceleration/Deceleration
Pattern
Operation
0 Trapezoid
Velocity
Time
1 S-shaped Motion
(Refer to Caution at
S-shaped Motion)
Velocity
Time
Set the S-motion rate with parameter No.56.
2 First-Order Delay Filter
(Refer to Caution at
First-order Delay Filter)
Velocity
Time
Set the first-order filter constant with
parameter No.55.
12) Incremental········· Set to 1 for pitch feed (relative movement = incremental feed).
The value set for the position in 1) indicates the pitch feed distance.
With the value set to 0, positioning is defined to the position in 1)
based on the absolute coordinate system.
Caution: In the pitch feed, do not perform a command with a pitch smaller than the
minimum encoder resolution (lead/encoder pulse number) or that less than
positioning accuracy repeatability.
There would be no deviation to occur even with the command because it is an
operation command to the same position as the positioning complete
condition, but the positioning control cannot be performed properly.
When solenoid valve mode 2 is selected, set this to 0. Setting this to 1 causes
the position data error to occur.
Caution at S-shaped Motion
1) Since it requires a speed change during the operation, even if having the position
command or direct command that S-shaped motion is set while the actuator is moving,
S-shaped motion control cannot be performed and will be the trapezoid control.
Make sure to make a command while the actuator is stopped.
2) S-shaped motion control is invalid in the index mode of the rotary actuator.
It will be the trapezoid control even if S-shaped acceleration/deceleration control is
indicated.
3) Do not use S-shaped acceleration/deceleration control if the setting of the acceleration
time or the deceleration time exceeds 2 seconds. It will be the trapezoid control.
4) Do not pause on the move during acceleration or deceleration. It will change the speed
(acceleration) and may cause a danger.
Caution at First-order Delay Filter:
1) Since it requires a speed change during the operation, even if having the position
command or direct command that first-order delay filter is set while the actuator is
moving, first-order delay filter control cannot be performed and will be the trapezoid
control.
Make sure to make a command while the actuator is stopped.
2) First-order delay filter control is invalid in the index mode of the rotary actuator.
It will be the trapezoid control even if first-order delay filter control is indicated
3.3 Setting of Position Data