IAI RoboNet Operation Manual page 74

(4) Acceleration/Deceleration
Caution
Refer to Appendix, "Specification List of Supported Actuators" and input appropriate values for speed and
acceleration/deceleration by considering the installation conditions and the shape of the load, so that the actuator will not
receive excessive impact or vibration.
Take note that increasing this value will significantly affect the allowable load capacity, or may even cause a system failure.
(5) Push
(6) Threshold
(7) Positioning Band
54
• Input the acceleration/deceleration at which to move the actuator (unit: [G]). Input a value
within the rated range.
(Refer to Appendix, "Specification List of Supported Actuators.")
Exercise caution when setting the acceleration/deceleration, because the input range is
greater than the rated range in the catalog.
If the load vibrates during acceleration/deceleration to cause problems, decrease the set
value.
Speed
Acceleration
0.3 G
Start position
Increasing the value will make the acceleration/deceleration curve sharper, while
decreasing the value will make the curve more gradual.
• Select "positioning operation" or "push operation."
The factory setting is "0."
0: Normal positioning operation
Other than 0: The set value indicates a current-limiting value. The push operation mode is
selected when a current-limiting value is set.
• This field is not used with this controller.
The factory setting is "0."
• How the set value is handled varies between "positioning operation" and "push operation."
"Positioning operation"
This field defines how much before the target
position the position complete signal is
turned ON.
Even after the position complete signal turns
ON, the actuator will continue to move toward
the target position.
Increasing the positioning band will quicken
the start of the next sequence, which helps
reduce the tact time. Set an optimal value by
considering the balance of the entire system.
Deceleration
0.2 G
Target position
Part 1 Specification
Time
The position complete
signal turns ON.
Positioning band
Target position