4. Operation
4.2 Operation in Positioner Mode
4-18
ME0342-4B
(11) Acceleration / deceleration mode :
Select a proper acceleration/deceleration pattern depending on the load.
Set Value
Acceleration/
Deceleration
Operation
0 Trapezoid
1
S-motion
Refer to [Caution
at S-shaped
Motion]
Set the S-motion rate with parameter No.56.
2
First-Order
Lag Filter
Set the delay time constant with parameter No.55.
Caution: Caution at S-shaped Motion
● Since it requires a speed change during the operation, even if having the position
command or direct command that S-shaped motion is set while the actuator is moving,
S-shaped motion control cannot be performed and will be the trapezoid control.
Make sure to make a command while the actuator is stopped.
● S-shaped motion control is invalid in the index mode of the rotary actuator. It will be the
trapezoid control even if S-shaped motion control is indicated.
● Do not use S-shaped motion control if the setting of the acceleration time or the
deceleration time exceeds 2s. It will not provide the right operation.
● Do not pause on the move during acceleration or deceleration. It will change the speed
(acceleration) and may cause a danger.
4.2 Operation in Positioner Mode
ME0342-4B 4-19
Caution: Caution on First-Order Lag Filter
● Even if the position command or direct value command is conducted with first-order lag
filter being set while the actuator is operated in order to have a speed change during an
operation, it will not make first-order lag filter control, but will make trapezoid control.
Make sure to issue the command while the actuator is stopped.
(12) Incremental :
Set to 1 for pitch feed (relative movement = incremental feed).
The value set for the position in (1) indicates the pitch feed distance.
With the value set to 0, positioning is defined to the position in (1) based on the absolute
coordinate system.
Caution
● In the pitch feed, do not perform a command with a pitch smaller than the minimum
encoder resolution (lead/encoder pulse number) or that less than positioning accuracy
repeatability.
There would be no deviation to occur even with the command because it is an operation
command to the same position as the positioning complete condition, but the positioning
control cannot be performed properly.
● When solenoid valve mode 2 is selected, set this to 0. Setting this to 1 causes the
position data error to occur.
(13) Transported load :
Register 4 types of load weights with using the teaching tool, and choose the number from
the registered numbers (0 to 3) that is to be used.
From the numbers (load weights) registered in this section, the smart tuning function
calculates the optimum speed and acceleration/deceleration.
Refer to [Instruction Manual of each teaching tool] for how to register the load weights and
smart tuning function.
Setting Name
0 Transported Load No.0
1 Transported Load No.1
2 Transported Load No.2
3 Transported Load No.3
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