IAI ERC3, Инструкция по эксплуатации

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Chapter 3 Operation
3.3 Setting of Position Data
59
11) Acceleration/deceleration mode ꞏꞏꞏSelect the acceleration/deceleration pattern. Establish
the setting considering the load.
Set
Value
Acceleration/Deceleration
Pattern
Operation
0 Trapezoid
1 S-shaped Motion
(Refer to Caution at
S-shaped Motion)
Set the S-motion rate with parameter No.56.
2 First-Order Lag Filter
Set the delay time constant with parameter
No.55.
12) Incrementalꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Set to 1 when performing the pitch feeding (Relative movement =
incremental feeding). The value set in 1) is the amount for the pitch
feeding.
If the setting is 0, the movement is positioning to the position of 1)
in 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.
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) Do not use S-shaped acceleration/deceleration control if the setting of the
acceleration time or the deceleration time exceeds 2 seconds. It will not provide
the right operation.
3) Do not pause on the move during acceleration or deceleration. It will change the
speed (acceleration) and may cause a danger.
Time
Speed
Speed
Time
Time
Speed
ME0302-4A