Iai-america RCP2-CF Manual de usuario descargar pdf (Pagina 9)

6. Data Entry <Basics>..........................................................................56

6.1 Description of Position-Data Table...............................................................................................57

6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value....................................60

(1) SA5/SA6/SS type (2) SA7 type.............................................................................................60

(3) SM type .................................................................................................................................61

(1) RPA type (2) RXA type..........................................................................................................62

(3) RSA/RSW type (4) RMA/RMW type .....................................................................................63

(5) RFA/RFW type ......................................................................................................................64

6.2 Explanation of Modes...................................................................................................................65

6.2.1 Positioning Mode Push = 0 ...................................................................................................65

6.2.2 Push & Hold Mode Push = Other than 0...............................................................................65

6.2.3 Speed Change during Movement..........................................................................................67

6.2.4 Operation at Different Acceleration and Deceleration Settings.............................................67

6.2.5 Pause ....................................................................................................................................68

6.2.6 Zone Signal Output ...............................................................................................................69

6.2.7 Home Return.........................................................................................................................69

6.2.8 Teaching Mode (Jogging/Teaching Using PIO).....................................................................70

6.2.9 Overview of the “4 Points” (Air Cylinder) Mode.....................................................................71

6.3 Notes on the ROBO Gripper........................................................................................................73

7. Operation <Practical Steps>..............................................................75

7.1 How to Start..................................................................................................................................75

7.1.1 Standard Specification...........................................................................................................75

7.1.2 Absolute Specification (Absolute Reset)...............................................................................77

7.2 How to Execute Home Return......................................................................................................80

7.2.1 Standard Specification...........................................................................................................80

7.2.2 Absolute Specification...........................................................................................................81

7.2.3 Operation Timings at PIO Pattern = “0: [Conventional]”........................................................82

7.2.4 Operation Timings at PIO Pattern = “5: [4 Points]”................................................................83

7.2.5 Operation Timings at PIO Pattern ≠ “0: [Conventional]” or “5: [4 Points]”..........................84

7.3 Home Return and Movement after Start (PIO Pattern = “1: [Standard]”) ..................................85

7.4 Positioning Mode (Back and Forth Movement between Two Points)...........................................87

7.5 Push & Hold Mode .......................................................................................................................89

7.5.1 Return Action after Push & Hold by Relative Coordinate Specification ................................90

7.6 Speed Change during Movement.................................................................................................91

7.7 Operation at Different Acceleration and Deceleration Settings....................................................93

7.8 Pause ...........................................................................................................................................95

7.9 Zone Signal Output ......................................................................................................................97

.10 Incremental Moves.......................................................................................................................99

7.11 Notes on Incremental Mode.......................................................................................................101

7.12 Jogging/Teaching Using PIO......................................................................................................103

8. Parameters ......................................................................................109

8.1 Parameter Classification ............................................................................................................109

8.2 Parameter Table.........................................................................................................................109

8.3 Parameter Settings..................................................................................................................... 110

8.3.1 Parameters Relating to the Actuator Stroke Range ............................................................ 110

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Iai-america RCP2-CF Manual de usuario Pagina 9

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