IAI PCON-CB series User Manual

6. Parameter
6.1 Parameter
6-55 ME0342-4B
[101] Force Control Transition Threshold (Parameter No. 173) …Pulse press only
No. Name Unit Input range Default initial value setting
173
Force control transition
threshold
％ 10 to 90 In accordance with actuator
It is a parameter dedicated for the force sensor used pressing. The threshold setting for
transition from a normal movement to a force control movement considering the loadcell load
data should be established.
The setting should be established in the ratio [%] of the pressing force with the pressing current
limit as 100%.
Adjustment should be done in pitch from 5 to 10 and increase and decrease gradually.
Actuator (Pulse Press)
Standard Force
Judgment Margin [N]
RCP6-RRA4R-LCT
500
RCP6-RRA6R-LCT
1,000
RCP6-RRA7R-LCT
Lead: 4
1,428
Lead: 2
2,857
Note The maximum pressing current limit value of an actuator (pulse pressing) equipped with
loadcell should differ depending on the models. Refer to [4.2.5 [4]] or [4.2.6 [3] Control
method 2)] for the maximum pressing current limit value for each model.
[102] Auto Current Adj. Select (Parameter No. 182)
No. Name Unit Input range Default initial value setting
182 Auto current adj. select -
0: Disabled
1: Enabled
0
When automatic current down function is not used, regardless of the size of the external force,
the current set in parameter No. 12 "Current Limit During Positioning Stop" applies after
positioning stop.
When automatic current down function is enabled, it maintains the present position at the
current in accordance with the size of the external force. Effective for reduction of power
consumption when transported load is small.
For details, refer to [5.2.2 Auto current adj].

IAI PCON-CB series Specifications

General

Brand	IAI
Model	PCON-CB series
Category	Controller
Language	English