IAI America RCM-101-USB - Manual (Page 162)

11. Smart T
uning Function (V
ersion V8.03.00.00 or Later)
150
Start pos (mm)
Set the test run start position of the actuator.
End pos (mm)
Set the test run end position of the actuator.
Vel (mm/s)
Set the test run velocity of the actuator.
Acc (G)
Set the test run acceleration of the actuator.
Dcl (G)
Set the test run deceleration of the actuator.
Use gain set No.
Set the gain set number used in the test run.
* No. 0 is only available for PCON-CA and ERC3.
Complete pos
Set the actuator stop position after operation complete from the start position to the end position.
The following two items can be selected for the stop position.
• Soft limit -
• Start pos
Drv Mode
Set the operation mode during test run.
The operation mode can be selected from the following two items.
• Trapezoid
• S-shape
* The following message may appear after clicking Start button depending on the parameter setting.
Select Yes and the following user parameters are changed as described, and the test run starts
executed.
Set value
Name
Trapezoid S-shape
No.56 “Sigmoid motion ratio setting [%]” Original Setting *1 100
No.71 “Position feed-forward gain” Original Setting *1 90
*1 If a change has made to the S motion operation parameter in “Takt time
calculation” window, the parameter for the trapezoid operation is changed
from the original values to that of S motion operation.
Select No and the test run is cancelled with no change to the parameters.
Fig. 11.62 Confirmation message for Change to S motion Operation Parameter