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Speed change during movement
If the load is made of soft material or is a bottle or otherwise topples easily due to its shape, one of the
following two methods can be used to prevent the load from receiving vibration or impact when it stops:
[1] Reduce the deceleration to make the deceleration curve gradual.
[2] Initially move the actuator at the rated speed, and reduce the feed speed immediately before the
target position.
Method [2], where the feed speed is reduced, is explained below.
(Example) Move the actuator from the rear end to the front end by using the intermediate point as a
dummy point, where the feed speed is set to 300 mm/s until the intermediate point and then
reduced to 20 mm/s after passing the intermediate point.
Example of position table
No.
Position
[mm]
Speed
[mm/s]
Acceleration
[G]
Deceleration
[G]
Push
[%]
Positioning
band [mm]
Remarks
0 5.00 300.00 0.30 0.30 0 0.10 Rear end
1 380.00 20.00 0.30 0.30 0 0.10 Front end
2 300.00 300.00 0.30 0.30 0 30.00
Intermediate
point
Operation timings
PLC processing 1: Turn OFF the rear end move command signal (ST0) and the front end move command
signal (ST1), and turn ON the intermediate point move command signal (ST2).
Operation: [1] The actuator starts moving toward the intermediate point.
[2] When the current position reaches 270 mm, the intermediate point detected output
(LS2) turns ON.
PLC processing 2: Turn OFF the intermediate point move command signal (ST2) and turn ON the front
end move command signal (ST1).
[3] The actuator decelerates from 300 mm/s to 20 mm/s and stops at the front end.
Caution: By setting a wide positioning band for the intermediate point, smooth speed change can
be implemented without requiring the actuator to stop temporarily at the intermediate
point.
Intermediate point move command
input (ST2)
Front end move command input
(ST1)
Intermediate point detected output
(LS2)
Front end detected output
(LS1)
Speed
Rear end:
5 mm
Intermediate point:
300 mm
Front end:
380 mm
Time
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