IAI RA Series, Инструкция по эксплуатации

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4. Operation Program
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4) Acc (acceleration) [G]
Values in this column indicate acceleration at which to make the actuator PTP move.
If not to input or for acceleration at CP operation (interpolation movement), establish
setting with SEL command ACC.
5) Dcl (deceleration) [G]
Values in this column indicate deceleration at which to make the actuator PTP move.
If not to input or for deceleration at CP operation (interpolation movement), establish
setting with SEL command DCL.
6) Inp (positioning band) [mm]
It is possible to set how far in advance the current position with respect to the target
position is acknowledged as position complete. This allows rough positioning without
changing positioning band parameters of the RC controller.
It is used to shorten the tact time by performing another processing such as IO processing
during the axis movement.
4.2.3. Positioning Completion
Completion check of positioning commands uses the position complete status (PSET) input
from the RC controller. Note that completion check is performed differently depending on
whether position complete band setting of position data is made or not.
(1) When position data position complete band is invalid (not set or set to 0 mm)
The operation command is completed upon checking that output of all movement command
from the completed and the PSET status of the RC controller is turned on. When the operation
is completed normally, the output part of the SEL command turns on. For this reason, the
positioning band of the RC axes becomes equal to the setting value of the positioning band
parameter of the RC controller.
(2) When position data position complete band is valid (set to 0.001 mm or more)
The positioning is regarded completed when the command position from the reaches a position
corresponding to the position complete band setting value before the target position and the
operation command is completed. The output is not turned on.
If you want to check if the RC axes are within the positioning band, execute the XPED
command after executing the positioning command. The XPED command performs the
positioning completion check described in (1) above (the INP output is turned on at normal
completion).
[Valid Conditions of Velocity, Acceleration and Deceleration in Position Data]
The velocity (Vel), acceleration (Acc) and deceleration (Dcl) in the extension motion control
position data are valid in operations with PTP movement commands (XMVP and XMPI).
If operation is to be made with CP movement commands (XMVL and XMLI), use VEL, VLMX,
ACC and DCL commands.
Actuator
movement
Positioning band
Target position
The PSET turns on while the current
position of the actuator is within the
positioning band from the target position.
PEND
PSET
PEND
PSET
PEND
PSET
PEND
PSET
ME0364-2B