IAI MCON-C, Инструкция по эксплуатации

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3) Velocity [mm/s]···· Set the velocity in the operation.
Do not attempt to input a value more than the maximum velocity or
less than the minimum velocity
*1
.
*1 Minimum velocity [mm/s] =
Lead length [mm] / Number of encoder pulse / 0.001 [sec]
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
: Acceleration capable to accelerate up to
9800mm/s per second
0.3G : Acceleration capable to accelerate up 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 catalog or
instruction manual of the actuator. The setting that exceeds the rated
acceleration/deceleration speed may shorten the actuator life
remarkably.
(2) Consider to lower the acceleration/deceleration speed when a shock
or vibration is applied to the actuator or work. 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
acceleration/deceleration to larger than their rated values to shorten
the tact time. Contact our company. Inform us of the weight, shape
and mounting method of the work and the installation conditions of the
actuator.
(4) For the gripper type, have the setting done for the speed and
acceleration/deceleration in the basis of one finger. Therefore, note
that the relative speed and acceleration/deceleration speed become
twice as it is set for the two fingers.
6) Pressing [%] ······· Set a value other than 0 here and the pressing operation is available.
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 done in 3) is less than the pressing speed setting value,
the pressing operation is performed at this setting value.
Caution: If the pressing speed is changed, the pressing force may differ from that
specified in 10.4 List of Specifications of Connectable Actuators.
When the pressing speed is changed, make sure to measure the actual
pressing force before start using.
Velocity
Time
9800mm/s
1s
1G
2940mm/s
0.3G
3.3 Setting of Position Data