IAI SCON-CB-F, Instruction Manual

Page: 200 / 450

3. Operation
184
Force judgment margins are described by percent of the base thrust in pressing operation
using force sensor
(*1)
provided by the actuator. They should be set in Parameter No.95 and
96.
The pressing complete judging range is,
Pressing setting value [%] + Force judgment [%]
to Pressing setting value [%] – Force judgment margin- [%]
*1 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]
RCS3-RA4R 200
RCS3-RA6R 600
RCS3-RA7R 1200
RCS3-RA8R 2000
RCS3-RA10R 6000
1t type 4900
RCS2-RA13R
2t type 9800
[Setting sample]
In case where the actuator is of 1-ton type and the pressing value, force judgment margin
+ side, and force judgment margin – side are set to 150%, 4%, and 4%, respectively:
Setup pressing value: 4900 [N] × 150% = 7350 [N] and
Force judgment and –: 4900 [N] × 4% = 196 [N].
Hence, the pressing complete judging range is between 7154 to 7546 [N].
[Adjustment]
It is recommended to check the condition of the pressing force caused in pressing
operation. Connect the PC software and read the current load value with servo monitoring
function.
*2
In case an overshoot or a step as shown in the graphs below is occurred in pressing force
(current load value), it can be made better by adjustment following the steps stated below.
Force judgment side
Force judgment margin - side
Setup pressing force
Pressing Completion (PEND Output)
judging range
Example for Overshoot Waveform
Ideal Value
Measured Value
Time [ms]
Pr
essi
ng f
or
ce
[
N
]
Overshoot
Example for Step Waveform
Time [ms]
Step
Pr
essi
ng f
or
ce
[
N
]
Ideal Value
Measured Value
Overshoot
Step
3.2.4