IAI America RCP2-CF - Manual (Page 9)

6. Data Entry ..........................................................................56
6.1 Description of Position-Data Table ............................................................................................... 57
6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value.................................... 60
(1) SA5/SA6/SS type (2) SA7 type ............................................................................................. 60
(3) SM type ................................................................................................................................. 61
(1) RPA type (2) RXA type .......................................................................................................... 62
(3) RSA/RSW type (4) RMA/RMW type ..................................................................................... 63
(5) RFA/RFW type ...................................................................................................................... 64
6.2 Explanation of Modes................................................................................................................... 65
6.2.1 Positioning Mode Push = 0 ................................................................................................... 65
6.2.2 Push & Hold Mode Push = Other than 0............................................................................... 65
6.2.3 Speed Change during Movement.......................................................................................... 67
6.2.4 Operation at Different Acceleration and Deceleration Settings............................................. 67
6.2.5 Pause .................................................................................................................................... 68
6.2.6 Zone Signal Output ............................................................................................................... 69
6.2.7 Home Return ......................................................................................................................... 69
6.2.8 Teaching Mode (Jogging/Teaching Using PIO) ..................................................................... 70
6.2.9 Overview of the “4 Points” (Air Cylinder) Mode..................................................................... 71
6.3 Notes on the ROBO Gripper ........................................................................................................ 73
7. Operation ..............................................................75
7.1 How to Start.................................................................................................................................. 75
7.1.1 Standard Specification........................................................................................................... 75
7.1.2 Absolute Specification (Absolute Reset) ............................................................................... 77
7.2 How to Execute Home Return...................................................................................................... 80
7.2.1 Standard Specification........................................................................................................... 80
7.2.2 Absolute Specification ........................................................................................................... 81
7.2.3 Operation Timings at PIO Pattern = “0: [Conventional]”........................................................ 82
7.2.4 Operation Timings at PIO Pattern = “5: [4 Points]”................................................................ 83
7.2.5 Operation Timings at PIO Pattern ≠ “0: [Conventional]” or “5: [4 Points]”.......................... 84
7.3 Home Return and Movement after Start (PIO Pattern = “1: [Standard]”) .................................. 85
7.4 Positioning Mode (Back and Forth Movement between Two Points)........................................... 87
7.5 Push & Hold Mode ....................................................................................................................... 89
7.5.1 Return Action after Push & Hold by Relative Coordinate Specification ................................ 90
7.6 Speed Change during Movement................................................................................................. 91
7.7 Operation at Different Acceleration and Deceleration Settings.................................................... 93
7.8 Pause ........................................................................................................................................... 95
7.9 Zone Signal Output ...................................................................................................................... 97
.10 Incremental Moves ....................................................................................................................... 99
7.11 Notes on Incremental Mode ....................................................................................................... 101
7.12 Jogging/Teaching Using PIO...................................................................................................... 103
8. Parameters ......................................................................................109
8.1 Parameter Classification ............................................................................................................ 109
8.2 Parameter Table ......................................................................................................................... 109
8.3 Parameter Settings..................................................................................................................... 110
8.3.1 Parameters Relating to the Actuator Stroke Range ............................................................ 110