IAI MCON-C, Инструкция по эксплуатации

Страница: 316 / 480

306
[41] S-motion rate (Parameter No.56)
No. Name Symbol Unit Input Range
Default factory
setting
56 S-motion Rate SCRV % 0 to 100 0
This parameter is used when the value in the “Acceleration/deceleration mode” field of the
position table is set to “1 (S-motion)”.
This enables to ease the impact at acceleration and deceleration without making the cycle time
longer.
The S-motion is a sine curve that has the acceleration time as 1 cycle.
The level of its swing width can be set by this parameter.
Setting [%] Level of swing width
0
No S-motion (Dotted line shown in the image below)
100
Sine curve swing width × 1 (Double-dashed line shown in the image below)
50
Sine curve swing width × 0.5 (Dashed line shown in the image below)
10
Sine curve swing width × 0.1 (Solid line shown in the image below)
Velocity
Time
0
Setting: 10
Setting: 50
Setting: 100
Within 2 seconds
(Caution 3))
Caution:
1) If the S-motion is specified in acceleration/deceleration mode, executing position
command or direct value command while the actuator is moving causes an actuator to
move along the trapezoid pattern.
To change a speed during operation, be sure to specify such a position command
while the actuator is in pause state.
2) In the index mode of rotary actuator, the S-motion control is disabled. If S-motion
acceleration/deceleration is specified, the trapezoid pattern is used in
acceleration/deceleration mode.
3) If acceleration time or deceleration time exceeds 2 seconds, do not specify S-motion
control. The actuator will be the trapezoid operation.
4) Do not perform temporary stop during acceleration or deceleration. The speed change
(acceleration) may cause the dangerous situation.
Velocity
Time
Swing width
Acceleration time
0
Chapter 8 Parameter