Denso RC5 Dokumentacja Pobierz pdf (Strona 118)

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4-4

The program shown in Fig. 4-3 sets internal acceleration and deceleration.

If you execute this program at 80% external speed, the following results occur.

PROGRAM PRO1

TAKEARM

ACCEL 50 ' Internal acceleration: 50%

DECEL 25 ' Internal deceleration: 25%

MOVE P, P1

END

Actual speed = Internal speed x internal speed

Actual speed = 80% x 100%

Actual speed = 80%

Actual acceleration = external acceleration x internal

acceleration

Actual acceleration = 64% x 50%

Actual acceleration = 32%

Actual deceleration = external deceleration x internal

deceleration

Actual deceleration = 64% x 25%

Actual deceleration = 16%

Fig. 4-3 Example of Settings for Internal Acceleration and Deceleration

Caution: When you set acceleration and deceleration, check that

there is no danger of collision due to pass changes.

If you change the speed or acceleration using a motion

option or with a command during a pass motion, be aware

of the possibility of a collision.

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