IAI PSEL, Operation Manual

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Actuator Control Declaration
309
(Note 3) An operation is made within the range of the maximum acceleration and
deceleration that would not exceed the ACMX acceleration/deceleration of each
movement axis during the CP operation such as MOVL Command. In case
constancy is required in the target acceleration/deceleration, indicate the
acceleration and deceleration in ACC, DCL Command and the position data.
(Note 4) Do not attempt to indicate the ACMX acceleration/deceleration to the continuous
movement related commands (PATH, PSPL, etc.).
It may cause a big speed drop depending on the direction of the movement
position. Indicate the acceleration and deceleration in ACC, DCL Command and
the position data.
(Note 5) Do not attempt to indicate the ACMX acceleration/deceleration to the extended
motion control board axis movement commands. It would cause Error No. C89
“Acceleration/Deceleration Indication Error”. Indicate the acceleration and
deceleration in ACC, DCL Command and the position data.
(Note 6) ACMX Command is a command dedicated for the linear drive axes.
[Example 1] For arch motion movement (vertical axis to move up/down)
VLMX Set the speed setting in VLMX Speed.
ACMX 1 Set the ACMX acceleration/deceleration of No. 1.
ACHZ 3 Indicate the 3rd axis to Z-axis for arch motion.
ATRG 13 11
ARCH 10 12 With Position No. 12 as the peak point, move with
the arch motion to Position No. 10.
x
Setting for Example 1
Example for Setting
ACMX
Acceleration No.
Each Axis
Parameter No.
Parameter Name
1
st
Axis 3
rd
Axis
2 ACMX + Acceleration 1 300 (3.0G) 50 (0.5G)
1
3 ACMX - Acceleration 1 300 (3.0G) 60 (0.6G)
x
Operation of Example 1 (Acceleration/Deceleration in Arch Motion Movement)
Positive Direction of
3rd Axis Coordinates
3rd Axis
Deceleration
0.6G
1st Axis
Deceleration 3.0G
3rd Axis
Deceleration 0.6G
3rd Axis
Deceleration 0.5G
Positive Direction of
1st Axis Coordinates
1st Axis
Acceleration 3.0G
3rd Axis
Acceleration
0.5G
Start Arch Trigger
(Position No.13)
End Arch Trigger
(Position No.11)
Start Point End Point (Position No.10)
Horizontal Movement
Uprising
Movement
Falling
Movement
Peak Point
(Position No.13)