IAI Rcon - Page 517

6.1 Parameter
B6-10
ME0384-4A
Startup Section
[Pushing Stop Recognition Time (Parameter No. 6)]
No. Name Unit Input range Default initial value setting
6
Pushing stop recognition
time
ms 0 to 9,999 In accordance with actuator
A parameter to set completion judgment time of push-motion operation.
The torque (current limit value) set in % in "Pushing" in the position table is monitored, and the
pushing complete signal PEND turns ON when the load current reaches the following conditions
during push-motion operation. PEND signal turns ON when the conditions are satisfied even if
the workpiece is not stopped.
(Accumulated time in which current has reached push value [%]) - (accumulated time in which current is less than push value [%])
≥ 255ms (Parameter No.6)
Current
Time
Push [%]
Push start
200ms
20ms
75ms
295ms
Contacting workpiece
Decrease in current
due to workpiece travel
200ms + 75ms - 20ms ≥ 255ms
Push complete (PEND output)