IAI PCON-CB series, Instruction Manual

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Chapter 3 Operation
POWER CON
PCON-CB/LC
78
3) Velocity [mm/s] ······· Set the velocity in the operation.
Do not attempt to input a value more than the maximum velocity
[refer to the caution note below] or minimum velocity
(Note 1)
.
Note 1 The minimum velocity differs depending on the type of the
actuator. Refer to the values stated in the appendix in
Chapter 10 or the following for the calculation.
Min. Speed [mm/s] = Lead Length [mm] / No. of Encoder Pluses / 0.001[s]
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 payload is extremely lighter than the rated payload, increase
accel..., acceleration/deceleration to larger than their rated 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 of 3) is lower than the pressing velocity, the pressing
process will be conducted with the velocity of 3).
Caution: If the pressing velocity is changed, the pressing force may differ from
that specified in 10.6 List of Specifications of Connectable Actuators.
When the pressing velocity is changed, make sure to measure the
actual pressing force before start using.
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