IAI America SCON-CA - Manual (Page 232)

Chapter 8 I/O Parameter
222
[76] Selection of pressing control (Parameter No.93)
No. Name Symbol Unit Input Range
Default factory
setting
93 Selection of pressing control FFRC –
0: Current limit
1: Force sensor
0
This parameter defines the pressing method.
Set Value Description
0 Pressing by current limit (when standard actuator)
1 Force sensor pressing (For the actuator with the
loadcell)
[Refer to 3.2.7 Pressing Operation Using Force Sensor Operation Ready.]
[77] Pressing operation using force sensor gain (Parameter No.94)
No. Name Symbol Unit Input Range
Default factory
setting
94 Pressing operation using force
sensor gain
FRCG – 100 to 30000 1500
This parameter defines the gain for pressing operation using force sensor. Normally this
parameter need not be changed. The gain may be adjusted when the rigidity of the pressing
target is extremely large or small.
The factory-set value is 1500.
The table below shows the relationship among the rigidity of pressing target, the response of
pressing operation using force sensor system and pressing operation using force sensor gain.
Please contact IAI in case there is a necessity of changing this setting.
�
Reference setting value of pressing operation using force sensor gain
Rigidity of pressing target
Hard � Rigidity � Soft
500 … 750 … 1500 …
… … …
1000 … 1500 … 3000 …
… … …
1500 … 2250 … 4500 …
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L
ow
… … …
Use of loadcell
(Parameter No.92)
Selection of
pressing control
(this parameter)
Force sensor pressing
Pressing by current limit
(conventional method)
0: Does not use
1: Use
1: Force sensor
pressing
0: Pressing by
current limit
Selection of
pressing control
(this parameter)
Parameter error alarm
Pressing by current limit
(conventional method)
1: Force sencor
pressing
0: Pressing by
current limit