IAI America PCON-CY - Manual (Page 98)

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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 work, 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 work 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 work, 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 work 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.