6. Parameter
6.1 Parameter
6-39
ME0342-4B
[69] Select to Use Loadcell (Prameter No. 92) …Pulse press only
No. Name Unit Input range
Default initial value setting
92 Select to use loadcell -
0: Not in use,
1: Used
0
Setting to use / not to use the loadcell (option) should be established.
Set value Content
0 Loadcell Not to be Used (for standard actuator)
1
Loadcell to be Used (for actuator (pulse pressing) equipped with loadcell)
Refer to [4.2.8 Preparation for Operation in Force Sensor Pressing (Loadcell Calibration)]
[70] Select Pressing Control (Prameter No. 93) …Pulse press only
No. Name Unit Input range
Default initial value setting
93 Select pressing control -
0: Current control
1: Force sencer
In accordance with actuator
The pressing system should be selected.
Set value Content
0 Pressing with Current Limit (for standard actuator)
1 Force Sensor Used Pressing (for actuator equipped with loadcell)
Refer to [4.2.8 Preparation for Operation in Force Sensor Pressing (Loadcell Calibration)]
Select to use loadcell
(Parameter No. 92)
0: Not in use
1: Used
1: Force Sensor
Pressing
0: Pressing with
Current Limit
6.1 Parameter
ME0342-4B 6-40
[71] Force Sensor Used Pressing Gain (Prameter No. 94) …Pulse press only
No. Name Unit Input range
Default initial value setting
94
Force Sensor Used
Pressing Gain
- 100 to 999,999
In accordance with actuator
It is the gain for the force sensor used pressing.
Make adjustment in correspondence with the stiffness subject to pressing. When adjusting,
increase/decrease gradually referring to the table below.
The relation among the stiffness subject to pressing, the responsiveness of the force sensor
used pressing system and the force sensor used pressing gain should differ for each actuator,
and should be as shown in the table below.
RA7R (Default on Delivery = 9,000) *In common for Lead 2 and 4
Stiffness Subject to Pressing
Responsiveness of
Control System
High←Responsiveness→Low
8,100 16,200 32,400 64,800 129,600 259,200
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
RA6R (Default on Delivery = 7,000)
Stiffness Subject to Pressing
Responsiveness of
Control System
High←Responsiveness→Low
4,900 9,800 19,600 39,200 78,400 156,800
5,600 11,200 22,400 44,800 89,600 179,200
6,300 12,600 25,200 50,400 100,800 201,600
7,000 14,000 28,000 56,000 112,000 224,000
7,700 15,400 30,800 61,600 123,200 246,400
8,400 16,800 33,600 67,200 134,400 268,800
9,100 18,200 36,400 72,800 145,600 291,200
RA4R (Default on Delivery = 22,000)
Stiffness Subject to Pressing
Responsiveness of
Control System
High←Responsiveness→Low
15,400 30,800 61,600 123,200 246,400 492,800
17,600 35,200 70,400 140,800 281,600 563,200
22,000 44,000 88,000 176,000 352,000 704,000
24,200 48,400 96,800 193,600 387,200 774,400