IAI SCON-CB-F - Page 200

3. Operation
184
Force judgment margins are described by percent of the base thrust in pressing operation
using force sensor
(*1)
provided by the actuator. They should be set in Parameter No.95 and
96.
The pressing complete judging range is,
Pressing setting value [%] + Force judgment margin+ [%]
to Pressing setting value [%] – Force judgment margin- [%]
*1 Base thrust in pressing operation using force sensor:
Converted thrust at rating motor output in pressing operation using force sensor
Actuator
Base thrust in pressing operation
using force sensor [N]
RCS3-RA4R 200
RCS3-RA6R 600
RCS3-RA7R 1200
RCS3-RA8R 2000
RCS3-RA10R 6000
1t type 4900
RCS2-RA13R
2t type 9800
[Setting sample]
In case where the actuator is of 1-ton type and the pressing value, force judgment margin
+ side, and force judgment margin – side are set to 150%, 4%, and 4%, respectively:
Setup pressing value: 4900 [N] × 150% = 7350 [N] and
Force judgment margin + and –: 4900 [N] × 4% = 196 [N].
Hence, the pressing complete judging range is between 7154 to 7546 [N].
[Adjustment]
It is recommended to check the condition of the pressing force caused in pressing
operation. Connect the PC software and read the current load value with servo monitoring
function.
*2
In case an overshoot or a step as shown in the graphs below is occurred in pressing force
(current load value), it can be made better by adjustment following the steps stated below.
Force judgment margin + side
Force judgment margin - side
Setup pressing force
Pressing Completion (PEND Output)
judging range
Example for Overshoot Waveform
Ideal Value
Measured Value
Time [ms]
Pressing force[N]
Overshoot
Example for Step Waveform
Time [ms]
Step
Pressing force[N]
Ideal Value
Measured Value
Overshoot
Step
3.2.4