IAI America ACON-SE - Manual (Page 25)

15
1. Overview
6. Safety Speed Setting
The default value of the safety speed is 100 mm/s or less.
Change it if necessary. (Limited to 250 mm/s or less)
o 5. Parameter Settings
7. Target Position Setting
Set desired positions in the [Position] field of the position table by using the teaching pendant or PC, or set
numeric values directly.
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displayed.
Determine target positions while fine adjusting the transferred work and robot hand.
* Once the target positions have been set, default values are automatically set to the other items (speed,
acceleration/deceleration, positioning band, etc.).
o 4.1 Description of Position Table
8. Operational Check of Safety Circuit
Confirm that the drive signal shutdown circuit (or motor drive power shutoff circuit) normally operates.
o 3. Installation and Wiring
9. Trial Run Adjustment
Input a movement command from PLC for positioning.
At this time, perform the following fine adjustments if necessary:
y
If vibration or abnormal sound occurs due to the weight, material or shape of transferred work, reduce the
speed, acceleration or deceleration.
y Prevention of interference with peripheral equipment, review of the boundary value of the zone output signal
and positioning band to reduce tact time
y Selection of the optimum values for the current-limiting value, evaluation time and push speed during push &
hold operation
o 4.1 Description of Position Table