IAI America ACON-CY - Manual (Page 95)

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6. Parameter Settings
z Push Speed (No. 34 PSHV)
This parameter defines the push speed that applies after the target position has been reached in push-motion
operation.
Before shipment, a default speed appropriate for the actuator characteristics is set.
Depending on the material and shape of the load, etc., set an appropriate speed in Parameter No. 34.
Note that, while the maximum speed varies according to the actuator, it should not exceed 20 mm/sec even with
the high-speed type. Set a push speed below the maximum speed.
Caution: It is recommended that the push speed be set to 5 mm/sec or above to reduce the effect of
varying push force.
z Push-motion Completion Judgment Time (No. 6 PSWT)
This parameter is used as a condition for determining if the load is contacted and push-motion operation is
completed.
Specifically, push-motion operation is deemed complete if the current-limiting value set in the position table has
been maintained for the time set in Parameter No. 6.
Depending on the material and shape of the load, etc., set an optimal value in combination with the
current-limiting value.
The minimum setting unit is 1 msec, and the maximum value is 9,999 msec. The factory setting is “255” [msec].
(Note) The following shows a case in which the load has shifted and current has changed during push-motion
completion judgment. In this example, the judgment time is set to 255 msec.
If the push current is maintained for 200 msec and then drops for 20 msec thereafter, the counter is decremented
by 20. Upon recovery of the push current, counting resumes from 180. If the push current is maintained for 75
msec, the counter will have counted up to 255 and thus completion of push-motion operation is determined.
In this case, the judgment requires a total of 295 msec.
Speed
Push speed
Work
Positioning band
Push current
Start position Target position Counting starts
Count to 200
Decrement to 180
Count to 255
Completion of push-motion operation is determined.