IAI X-SEL, Руководство по эксплуатации

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Part 4 Commands
Chapter 2 Explanation of Commands
Part 4 Commands
ACMX (Indicate ACMX acceleration)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Prohibited CP Optional Optional ACMX
ACMX
acceleration
number
[Function] Set the movement acceleration and deceleration of the actuator to the ACMX acceleration of the
number indicated in Operation 1.
Once ACMX Command is executed, the parameters registered in ACMX Acceleration No.1 to
4 (Each Axis Parameters No.2 to 5 and 194 to 197) are set as the movement acceleration and
deceleration. It is necessary to set the parameters of ACMX acceleration in advance considering
the conditions how to use the actuator (transportation weight, installation condition, etc.).
ACMX Acceleration
Number
Movement
Direction
Acceleration Deceleration
1
Positive
Axis Parameter No.2
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Axis Parameter No.3
Setting of “ACMX - Acceleration 1”
Negative
Axis Parameter No.3
Setting of “ACMX - Acceleration 1”
Axis Parameter No.2
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2
Positive
Axis Parameter No.4
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Axis Parameter No.5
Setting of “ACMX - Acceleration 2”
Negative
Axis Parameter No.5
Setting of “ACMX - Acceleration 2”
Axis Parameter No.4
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3
Positive
Axis Parameter No.194
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Axis Parameter No.195
Setting of “ACMX - Acceleration 3”
Negative
Axis Parameter No.195
Setting of “ACMX - Acceleration 3”
Axis Parameter No.194
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4
Positive
Axis Parameter No.196
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Axis Parameter No.197
Setting of “ACMX - Acceleration 4”
Negative
Axis Parameter No.197
Setting of “ACMX - Acceleration 4”
Axis Parameter No.196
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(Note 1) It may generate an error is the acceleration or deceleration is set above the actuator
specifications.
Also, it cause a malfunction or drop of the production life.
(Note 2) The priority is put to the setting of acceleration and deceleration in the position data indicated
with a movement command if there is any.
(Note 3) An operation is made within the range of the maximum acceleration and deceleration that would
not exceed the ACMX acceleration/deceleration of each movement axis during the CP operation
such as MOVL Command. In case constancy is required in the target acceleration/deceleration,
indicate the acceleration and deceleration in ACC, DCL Command and the position data.
(Note 4) Do not attempt to indicate the ACMX acceleration/deceleration to the continuous movement
related commands (PATH, PSPL, etc.). It may cause a big speed drop depending on the direction
of the movement position. Indicate the acceleration and deceleration in ACC, DCL Command
and the position data.
(Note 5) Do not attempt to indicate the ACMX acceleration/deceleration to the extended motion control
board axis movement commands. It would cause Error No.C89 “Acceleration/Deceleration
Indication Error”. Indicate the acceleration and deceleration in ACC, DCL Command and the
position data.
(Note 6) This command language is applicable for XSEL-P/Q/PCT/QCT controller main application Ver.
1.15 and later. It is available to input for PC software Ver. 7.07.04.00 and later.