IAI MCON-C, Instruction Manual, Page: 276 / 480

266
5.2 Settings
Have the following settings established when using following function.
1) Select to use feature
Setting can be established in the parameters. Setting of parameter “No.168 Collision Detection
Feature”
Setting
value
Operation status Alarm level
0 Detection not to be conducted (same when set to 2, 4 or 6)
－
1 Detection is conducted in position zone setting range.
3
(Note1)
Detection is conducted in position zone setting range, but
is not conducted in the following conditions.
• The first movement after releasing from a pause
• Movement from a stop in the positon zone range
Operation cancel
level
5 Detection is conducted in position zone setting range.
7
(Note1)
Detection is conducted in position zone setting range, but
is not conducted in the following conditions.
•
The first movement after releasing from a pause
•
Movement from a stop in the positon zone range
Message level
Note 1 In this setting, it can avoid a mistake to detect the current during acceleration.
2) Setting of Detection Current Value
Setting is made by inputting 0 (0%) to 100 (100%) in “Threshold” cell in the position table.
Detection is not conducted if set to 0.
3) Setting of Adjustment time
Setting can be established in the parameters. Setting of parameter ”No.50 Load Output
Judgment Time”
Position zone : 0 to 9999 [ms] (Initial Value 255ms)
4) Setting of Adjustment Range (position zone)
Set the range in “Zone +” and “Zone –“ in the position table. Set a small value in “Zone +” and
“Zone –“.
Position zone : 0.00 to Actuator Stroke Length [mm]
Chapter 5 Collision Detection Feature