IAI America RCP2-CF - Manual (Page 91)

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6.2.9 Overview of the “4 Points” (Air Cylinder) Mode
This mode provides a control method adjusted to that of an air cylinder by assuming that the RCP2 is used as an
air cylinder.
The key differences between the RCP2 and an air cylinder are summarized below. Perform proper control by
referring to this table.
Item Air cylinder RCP2
Drive method Air pressure supplied via
electromagnetic valve
control
Ball screw/timing belt driven by a motor
Target
position
setting Mechanical stopper
(including shock absorber) Desired coordinates are entered in the [Target position] field
of the position table.
The coordinates can be typed in from the number keys on the
PC keyboard or on the teaching pendant, or set directly by
moving the actuator to the target position.
Target
position
detection An external detection
sensor, such as a reed
switch, is installed. Determined based on the internal coordinates provided by the
position information from the position detector (encoder).
Accordingly, external detection sensor is not required.
Speed setting Adjusted by a speed
controller.
A desired feed speed is entered in the [Speed] field of the
position table (unit: mm/sec).
Note that the rated speed is automatically set as the initial
value.
Acceleration/
deceleration
setting Determined in accordance
with the load, supplied air
volume, as well as the
performance of the speed
controller and
electromagnetic valve. A desired acceleration/deceleration is entered in the
[Acceleration/deceleration] field of the position table (unit:
0.01 G).
(Reference) 1 G = Gravitational acceleration
Note that the rated acceleration/deceleration is automatically
set as the initial value.
Since the acceleration/deceleration can be set in fine steps, a
gradual acceleration/deceleration curve can be programmed.
Position
check upon
power ON Determined by an external
detection sensor, such as
a reed switch. Immediately after the power is turned on, the controller
cannot identify the current position because the mechanical
coordinates have been lost.
Therefore, when the first movement command is issued after
the power has been input, the controller will automatically
perform home return before moving the actuator to the target
position.
[1] The actuator moves at the home return speed toward the
mechanical end on the motor side.
[2] The actuator hits the mechanical end and turns back, and
then stops temporarily at the home position.
[3] The actuator moves to the target position at the speed
specified in the [Speed] field of the position table.
(Note) Pay attention not to allow any obstacle in the travel
path of the actuator during home return.
[1]
[2]
[3]
Home position
Target position
Power is turned
on here.