IAI PSEL, Руководство по эксплуатации

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3. Program
108
Ɣ
Vel (speed), Acc (acceleration), Dcl (deceleration)
If Vel (speed), Acc (acceleration) and Dcl (deceleration) are set in the position data table, the
values set in the position data table are given priority over the corresponding data set in the
program.
To make the Vel (speed), Acc (acceleration) and Dcl (deceleration) settings in the program
effective, leave these fields blank.
The effective values of speed and acceleration are determined based on the priorities specified
below.
Priority Speed Acceleration (Deceleration)
1 Value set in the position data table Value set in the position data table
2 Value set in the VEL command Value set in the ACC (DCL) command
3
All-axis parameter No. 11, "Default acceleration"
(All-axis parameter No. 12, "Default deceleration")
The setting ranges vary depending on the actuator.
x
Speed 1 to the value of all-axis common parameter No. 21, “Maximum operating
speed”
x
Acceleration 0.01 to the value of all-axis common parameter No. 22, “Maximum
acceleration”
x
Deceleration 0.01 to the value of all-axis common parameter No. 23, “Maximum
deceleration”
With rotational axes, values in mm are handled in degrees.
If Axis-specific parameter No. 1, “Axis operation type” is set to 1 (Rotational movement axis
(angle control)), all values indicated in mm (including parameters, etc.) are converted to angles
(in degrees).
These angles (in degrees) indicate angles (in degrees) of a rotating body at the end, as long
as the gear ratio parameters (Axis-specific parameter No. 50, 51) are set correctly.
Example) Distance 1mm
o
1deg
Speed 1mm/sec
o
1deg/sec
Acceleration/deceleration 1G = 9807mm/sec
2
o
9807deg/sec
2