IAI RCP6S User Manual

3. Operation
Fieldbus Communication
89
RCP6
S
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 (8192) / 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 rated pressing force may differ from
that specified.
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
ME0349-4B

IAI RCP6S Specifications

General

Brand	IAI
Model	RCP6S
Category	Conference System
Language	English