IAI America RCP2W-RA10C - Manual (Page 63)

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7. Cautions in Operation
(2) Example of calculation and operation availability judgment
As an example of a calculation, let's see if the continuous operation is available under the following
operational conditions.
Pressing after 100mm moving forward and standby after 100mm backwards
Refer to Graph 6 for the operation pattern.
*1
The current value when stopped is as shown in the following parameter.
Ɣ PCON Controller: No.12 Current Limit Value at Positioning Stop (60% when delivered)
1) Condition 1 Confirmation of pressing duration
According to Table 1, the maximum pressing duration at 70% of the pressing command value is 600s.
On the other hand, the operation pattern is 60s. Thus, the pressing duration should be okay.
2) Condition 2 Confirmation of continuous operation torque.
Figure out the continuous operation torque using Formula 1 that is for continuous torque calculation.
• • • (Formula 1)
T1a = T1d = T2a = T2d = 0.93N• P 6SHHGPPVHF· PPVHFĺ5HDGWKHWRUTXHDW
100mm/sec from Graph 4)
T1f = T2f = 0.42N• P6SHHGPPVHFĺ5HDGWKHWRUTXHIURP*UDSK
To = 2.43N• P ĺ5HDGWRUTXHIURP*UDSK
Tw = 1.39N• P ĺ5HDGWRUTXHIURP*UDSK
t1a = t1d = t2a = t2d = 0.2s. t1f = t2f = 0.9s. To = 60s. Tw = 36s.
The continuous operation torque with the operation pattern above is:
It can be defined as okay since the continuous operation torque is 2.08N•m or less.
Graph 6: Operational Pattern
Used Model: RCP2-RA8 Lead 10
Speed: 200mm/sec
Acceleration/Deceleration: 1.96m/s 2 (0.2G)
Operation Distance: 100mm
Pressing Command Value: 70% (1000N)
Pressing Duration: 60sec
Stop Current Limit Value: 40% *1
Standby Duration: 36sec