IAI PSEL, Руководство по эксплуатации

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[1
1] Actuator
Control
Declaration
293
z
OVRD (Override)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional OVRD Speed ratio Prohibited CP
Applicable models
All models [Refer to Section 5.1 for details of models]
{
[Function] Reduce the speed in accordance with the ratio specified in operand 1 (speed
coefficient setting). The speed ratio is set in a range from 1 to 100%.
A speed command specifying a speed below 1mm/sec can be generated using
OVRD.
Speed-command smoothing limit speed : 1pulse/msec
Speed-command generation limit speed : 1pulse/256msec
(Smoothing in actual operation is not guaranteed. It must be confirmed with the
actual equipment.)
1pulse : Lead [mm]/16384 … Standard model with 1 : 1 gear ratio
(The speed set by a PAPR command (push-motion approach speed) is clamped
at the lower-limit speed 1mm/sec.)
[Example 1] VEL 100 Set the speed to 100mm/s.
OVRD 50 Reduce the speed to 50%.
As a result, the actual speed will become 50mm/s.
[Example 2: SCARA robot]
VEL 150 Set the SCARA CP operation speed/linear axis
speed to 150mm/sec.
VELS 90 Set the SCARA PTP operation speed ratio to 90%.
OVRD 50 Lower the speed to 50%.
The SCARA CP operation speed/linear axis speed
becomes 75mm/sec, while the SCARA PTP
operation speed ratio becomes 45%.
Command limit speed for smooth operation:
Travel distance per encoder pulse [mm/pulse]/time [msec]
Command limit speed that can be generated:
Travel distance per encoder pulse [mm/pulse]/time [msec]
(Smoothness of actual operation cannot be guaranteed. Movement must be checked on the
actual machine.)
[Calculation formula of travel distance per encoder pulse]
Rotary encoder
Travel distance per encoder pulse [mm/pulse] = (Screw lead [0.001mm]
u
Gear ratio numerator)
/ (Encoder resolution [pulses/rev]
u
Gear ratio denominator
/ (2 ^ Encoder division ratio)
Linear encoder
Travel distance per encoder pulse [mm/pulse] = Encoder resolution (0.001
P
m/pulse)
u
1000
/ (2 ^ Encoder division ratio)
(Reference) Use the values of the following parameters for the above calculation formulas:
Encoder resolution: Axis-specific parameter No. 42
Encoder division ratio: Axis-specific parameter No. 43
Screw lead: Axis-specific parameter No. 47
Gear ratio numerator: Axis-specific parameter No. 50
Gear ratio denominator: Axis-specific parameter No. 51