Iai-america XSEL-KET Uživatelský manuál stáhnout pdf (Strana 107)

100

101

INTELLIGENT ACTUATOR

Part 3 Controller Data Structure

X-SEL language consists of a position part (position data = coordinates, etc.) and a command part

(application program).

2. Position Part

As position data, coordinates, speeds, accelerations and decelerations are set and stored.

Position No. Axis 1 Axis 2 Axis 3 Axis 4 Speed Acceleration Deceleration

2998

2999

3000

*1 Varies depending on the actuator model.

*2 If speed, acceleration or deceleration is set in the position data, the setting will be given priority

over the corresponding data set in the application program. Leave the position data fields empty if

you wish to enable the corresponding data in the application program.

Priority Speed Acceleration (deceleration)

1 Value of position data set in operand 1 Value of position data set in operand 1

2 Value set by VEL command Value set by ACC (DCL) command

3 All-axis parameter No. 11, Default acceleration

(All-axis parameter No. 12, Default deceleration)

Values pertaining to a rotating axis are processed in degrees instead of millimeters.

If axis-specific parameter No. 1 (axis operation type) is set to “1” (rotational movement axis (angle

control)) for a given axis, all millimeter values pertaining to that axis (including parameters, etc.) will be

processed in degrees.

If the gear ratio parameters (axis-specific parameter Nos. 50 and 51) are set correctly, the angles (deg)

will represent those of the body of rotation at the end.

Example) Distance 1 mm  1 deg

Speed 1 mm/sec  1 deg/sec

Acceleration/deceleration 1 G = 9807 mm/sec

 9807 deg/sec

 2000000.000 mm

*1, 2

1 ~ 2000/mmsec

Standard

0.3 G

Standard

0.3 G

1 2 ... 102 103 104 105 106 107 108 109 110 111 112 ... 435 436

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