IAI America SCON-CA - Manual (Page 95)

Chapter 3 Operation
85
3) Velocity [mm/s]········· Set the velocity in the operation.
Do not attempt to input a value more than the maximum velocity.
4) Acceleration [G] ······· Set the acceleration at start.
5) Deceleration [G] ······· Set the deceleration at stop.
(Reference)�How to set the acceleration is described below. The same idea
can be applied to the deceleration.
1G=9800mm/s 2 : Accelerated to 9800mm/s per second
0.3G: Accelerated to 9800mm/s × 0.3 = 2940mm/s per second
� �
Caution: (1) Set the velocity, acceleration and deceleration so that they do not
exceed the rating values described in the brochure or the instruction
manual of the actuator. Failure to follow this may cause the life of the
actuator to be shortened extremely.
(2) If shocks and/or vibrations appear on the actuator and/or the work,
lower the acceleration and/or the deceleration. In such cases, do not
continue the use of the actuator, otherwise the product life may be
shortened extremely fast.
(3) If the carriage weight is extremely lighter than the rating carriage
weight, acceleration/deceleration larger than their rating values to
shorten the tact time. Please contact IAI for the settings in such
situation. Inform us of the weight, shape and mounting method of the
work and the installation conditions of the actuator.
(4) For the actuator of gripper type, set the velocity, acceleration and
deceleration on the single finger basis. Note that the relative velocity,
acceleration and deceleration between both the fingers are as twice as
the setting values.
6) Pressing [%] ·············Setting proper data here allows pressing to be done. Set a pressing
torque (limit current value) in %. If the value is set to 0, the normal
positioning operation is performed.
The speed for the pressing operation is set in Parameter No.34.
If the setting done in 3) is less than the pressing speed setting value,
the pressing operation is performed at this setting value.
For pressing operation using force sensor, set the pressing force by
percent of the base thrust in pressing operation using force sensor.
* Base thrust in pressing operation using force sensor: Converted thrust at
rating motor output in pressing operation using force sensor
Actuator
Base thrust in pressing
operation using force sensor
[N]
1t Type 4900
RCS2-RA13R
2t Type 9800
Example: 7350N for setting of 150% of 1t type
7) Threshold [%] ···········Set the threshold value of the pressing torque in %.
If the torque (load current) becomes larger than this setting value
during pressing, the detection signal is output. This feature is used to
monitor the load current and judge whether the operation is good or
not in such an operation as press fitting in pressing.
Velocity
Time
9800mm/s
1s
1G
2940mm/s
0.3G