IAI PCON-CB series User Manual

4. Operation
4.2 Operation in Positioner Mode
4-72
ME0342-4B
The force judgment margin is be expressed with the base that the pressing current limit when
the force sensor is used is considered as 100%
(Note 1)
. It should be set in Parameters No. 95
and No. 96. The judgment range of the pressing complete should be determined as follows;
Pressing Setting [%] + Force Judgment Margin Positive [%] to
Pressing Setting [%] - Force Judgment Margin Negative [%]
Note 1 A value that the pressing current limit when the force sensor is used is considered
as 100% (force judgment margin)
Actuator
(Pulse Pressing)
Standard Pressing Force
with Force Sensor [N]
RCP6-RRA4R-LCT
500
RCP6-RRA6R-LCT
1,000
RCP6-RRA7R-LCT
Lead: 4
1,428
Lead: 2
2,857
[Example of Setting]
Assuming the setting with RCP6-RRA6R-LCT at 500N, force judgment margin positive side at
5% and the force judgment margin negative side at 5%;
Pressing Setting ... 500 [N]
Force Judgment Margin Positive and Negative ... 1,000 [N] × 5% = 50 [N]
Therefore the judgment range of the pressing complete should be from 450 to 550 [N].
[How to Adjust]
It is recommended to check the status of the pressing force in pressing operation. Connect to
the PC software and read the current load with the servo monitor features
(Note 2)
to check.
If there is an overshoot or a step to the pressing force (current load) as shown in the figures
below, the phenomenon can be eased by adjusting in the following process.
Force Judgment Margin Positive Side
Pressing Setting
Pressing Complete (PEND Output)
Judgment Range
Force Judgment Margin Negative Side
Example of Overshoot
Waveform
Ideal Waveform
Measured Waveform
Example of Step
Waveform
Measured Waveform
Ideal Waveform
Time [ms]
Pressing Force [N]
Overshoot
Time [ms]
Step
Pressing Force [N]
4.2 Operation in Positioner Mode
ME0342-4B 4-73
Step 1)
Try to reduce the pressing velocity when overshooting is being occurred.
The pressing velocity is determined for each actuator to be used, which should be set in
Parameter No. 34.
Set the speed lower than the pressing velocity being set temporarily to the position data
(Note 3)
,
and perform the pressing operation. In case the condition improves with this, revise the value
in the position data to the one in Parameter No. 34 and set the velocity in the position data
back to the value before.
Note 2 It is a feature equipped in the PC software. Refer to [PC Software Instruction Manual
(ME0155)] prepared separately. In case of using IA-OS, refer in the help window.
Note 3 If the velocity set in the position data is lower than setting in the pressing velocity in
Parameter No. 34, the pressing velocity should follow the setting in the position data.
Step 2)
In case there is no improvement with Step 1), change the force sensor used pressing gain
(Parameter No. 94). When it is necessary to change, refer to the table below and increase or
decrease gradually
(Note 4)
.
Note 4 Try the following values (for each model) for the setting in Parameter No. 94.
 RA7R (Default on Delivery = 9,000)
Stiffness Subject to Pressing
Hard ←← Stiffness →→ Soft
Responsiveness of
Control System
High
←
←
Responsiveness
→
→
Low
6,300
12,600
25,200
50,400
100,800
201,600
7,200
14,400
28,800
57,600
115,200
230,400
8,100
16,200
32,400
64,800
129,600
259,200
9,000
18,000
36,000
72,000
144,000
288,000
9,900
19,800
39,600
79,200
158,400
316,800
10,800
21,600
43,200
86,400
172,800
345,600
11,700
23,400
46,800
93,600
187,200
374,400
* The values are in common for Lead 2 and 4.

IAI PCON-CB series Specifications

General

Brand	IAI
Model	PCON-CB series
Category	Controller
Language	English