IAI PCON-CB series, Инструкция по эксплуатации

Страница: 149 / 336

Chapter 3 Operation
POWER CON
PCON-CB/LC
135
[4] Speed Change During the Movement
„
Sample use
No.
Position
[mm]
Velcoty
[mm/s]
Accele-
ration
[G]
Decele-
ration
[G]
Pressing
[%]
Thresh-
old
[%]
Positioning
width
[mm]
Zone+
[mm]
Zone-
[mm]
Acceleration/
Deceleration
mode
Incre-
mental
Transported
load
Stop
mode
0 0.00 100.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
1 0.00 50.00 0.20 0.20 0 0 100.00 0.00 0.00 0 0 0 0
2 150.00 200.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
„
Control method
The speed of the actuator can be changed while it moves. The operation control method is the
same as that in [3] Positioning. This pattern prioritizes the startup signal commanded first.
Therefore, when another position number is started during an operation and the first startup
signal is turned OFF, and then the new position number condition starts to operation at this
moment (velocity change).
1) In this example, the speed is changed while the actuator moves from the position of
150mm to the position of 0mm. At first, set the positioning to the target position at the first
speed in position No.1. In the positioning width, set the distance from the speed change
position to the target position. The value is set to 100mm in the example. Thus, for position
No.1, position sensing signal LS1 is turned ON at the position before the target position by
100mm.
2) Set the positioning to the target position at the second speed in position No.0.
3) And then, after starting up Position No. 0 (ST0 Signal) with the position detection output
signal LS1 in Position No. 1 by starting up Position No. 1 (ST1 Signal), turn OFF ST1
Signal. The operation switches over to Position No. 0 as soon as ST1 Signal is turned OFF.
In this example, the target positions No.0 and 1 are equal with each other. They may not be the
same. However, setting the target positions to be equal with each other allows the distance
from the speed change position to the target position to be known easily.
Depending on the timing when the actuator accepts the input signal, the speed change may be
delayed a little. Changing the positioning width can adjust the timing.
Velocity
1) 2) 3) 4) 5)
1) 2) 3) 4) 5)
Positioning complete width at position 1