IAI Rcon - Page 237

3.8 I/O Signals
A3-134
ME0384-4A
Chapter 3 Gateway Unit
Specifications Section
[Speed changes while traveling]
Multiple speed control is possible with one operation. While traveling, you can slow down or
speed up from a given point. However, position data is required every time the speed changes.
This function is effective for cases where the material to be conveyed is soft, the workpiece may
fall due to its shape, such as bottles, and when vibration or shocks while stopping are
undesirable.
(Example) When positioning to position 2 (300 mm from home), it moves to an intermediate
position 1 (200 mm from home) at 200 mm/s speed, and thereafter at 20 mm/s speed.
Position table example
No.
Position
[mm]
Speed
[mm/s]
Acceleration
[G]
Deceleration
[G]
Push
[%]
Positioning
width
[mm]
Comment
0 * * * * * *
1 200.00 200.00 0.30 0.30 0 20.00
2 300.00 20.00 0.30 0.30 0 0.10
* Consider the scan time of the host controller, so that T1 ≥ 0 ms.
Position 1
Position 2
Position 2
Position 1
Position 1
Position 3
Position 2
Position command
Completed position
Traveling
(MOVE)
Actuator travel
Speed
Position 1
Position 2
T1
*
T1
Position 2
Position 1
200 mm/s
20 mm/s
180mm
Position 1
(200mm)
Position 2
(300mm)
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