IAI RCP6S User Manual

5. Collision Detection Feature
Fieldbus Communication
174
RCP6
S
5.2 Settings
Have the following settings established when using following function.
1) Select to use feature
Setting can be established in the parameters. Setting of parameter “No.168 Collision Detection
Feature”
Setting value Operation status Alarm lebel
0
Detection not to be conducted (Same when 2, 4 or 6 is set) -
1
Detection is conducted in position zone setting range.
3
Detection is conducted in position zone setting range, but is not
conducted in the following conditions.
• The first movement after releasing from a pause
• Movement from a stop in the positon zone range
Operation
cancel lebel
5
Detection is conducted in position zone setting range.
7
Detection is conducted in position zone setting range, but is not
conducted in the following conditions. In this setting, it can avoid
a mistake to detect the current during acceleration.
• The first movement after releasing from a pause
• Movement from a stop in the positon zone range
Message lebel
2) Setting of Detection Current Value
Setting is made by inputting 0 (0%) to 100 (100%) in “Threshold” cell in the position table.
Detection is not conducted if set to 0.
3) Setting of Adjustment time
Setting can be established in the parameters. Setting of parameter ”No.50 Load Output
Judgment Time”
Position zone : 0 to 9999 [ms] (Initial Value 255ms)
4) Setting of Adjustment Range (position zone)
Set the range in “Zone +” and “Zone –“ in the position table. Set a small value in “Zone +” and
“Zone –“.
Position zone : 0.00 to Actuator Stroke Length [mm]
5.3 Adjustment
Refer to the following when performing an adjustment.
1) Adjustment Range : Avoid the acceleration range, which requires high current”, and set
the range with possibility that collision can occur.
2) Detection Current Value :
Considering the movement velocity and weight of a work piece, set
a low value in the range that detection mistake would not occur.
(Set it slightly higher than the current necessary for constant
velocity movement, and tune little by little.)
ME0349-4B

IAI RCP6S Specifications

General

Brand	IAI
Model	RCP6S
Category	Conference System
Language	English