IAI MCON-C, Instruction Manual

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3.3 Setting of Position Data
The values in the position table can be set as shown below. In the case that only positioning
is necessary, all you have to do is to input the position data, and nothing else is required as
long as the indication of acceleration and deceleration is needed. For the speed and
acceleration/deceleration, the data set to the parameters is automatically reflected to the
setting. Therefore, the work can be simple if you put the speed and
acceleration/deceleration data to the parameter setting.
1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12) 13) 14) 15)
No. Position
[mm]
Velocity
[mm/s]
Accele-
ration
[G]
Decele-
ration
[G]
Pressing
[%]
Thresh-
old
[%]
Positioning
width
[mm]
Zone+
[mm]
Zone-
[mm]
Acceleration/
Deceleration
mode
Incre-
mental
Gain
set
Stop
mode
Vibration
suppress
No.
Comment
0 0.00 100.00 0.30 0.30 0.00 0.00 0.10 0.00 0.00 0 0 0 0 0
1 100.00 100.00 0.30 0.30 0.00 0.00 0.10 0.00 0.00 0 0 0 0 0
2 150.00 200.00 0.30 0.30 50.00 0.00 30.00 0.00 0.00 0 0 0 0 0
3 200.00 400.00 1.00 1.00 0.00 0.00 0.10 0.00 0.00 0 0 0 0 1
4 200.00 200.00 0.30 0.30 0.00 0.00 0.10 250.00 230.00 0 0 0 0 2
5 500.00 50.00 0.10 0.10 0.00 0.00 0.10 0.00 0.00 0 0 0 0 0
6
7
Caution: The input value is treated as the angle for the rotary actuator.
Therefore;
[mm] → [deg] ···········1.2=1.2deg
[mm/s] → [deg/s]·······100=100deg/s
They are treated as above.
Please note that the display on the screen of a teaching tool such as the
PC software is in [mm].
1) Position No.········· It is the number commanded by PLC in operation command.
Caution: Do not use position No.0 if available positions remains enough.
At the first servo ON after power ON, the completed position No. output is
0 even if the actuator is not located at position No.0. The actuator enters
into the same state as that at positioning to position No.0. The completed
position No. output is 0 during movement of the actuator. To use position
No.0, get the command history by using the sequence program to check
completed position No.0 based on the history.
2) Position [mm] ······ Positioning coordinate value. Enter it as the distance from the home
position.
For pitch feed (relative movement = incremental feed), enter the pitch
width.
A value with – indicates that the actuator moves toward the home
position. A value without – indicates that the actuator moves to be
away from the home position.
Caution: (1) In the case of a Gripper Type:
Set the coordinate value on the single finger basis. Set the value for
the movement of one finger from the home position. Stroke
information in the specification is shown in the total value of
movement distance of the two fingers.
Therefore, the stroke is 1/2 of what is described in the specifications.
(2) In the case of a Rotary Type
Set the coordinate value by an angle from the home.
3.3 Setting of Position Data