IAI America ACON-SE - Manual (Page 92)

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5. Parameter Settings
Ɣ Push speed (No. 34 PSHV)
This meter defines the speed after the target position has been reached during push & hold operation.
The factory setting is the default value in accordance with the actuator characteristics.
Set an appropriate value in consideration of the material, shape, etc., of the work.
However, the maximum speed is controlled to 20 [mm/sec] even in the high-speed type although it varies
depending on the actuator. Use the push speed as a slower speed than this maximum one.
Caution: It is recommended to use the actuator at a speed of 5 mm/s or more to reduce the effect
of variations in push speed.
Ɣ Push & hold stop judgment time (No. 6 PSWT)
This parameter is used as a judgment condition when determining if the work was contacted and the push & hold
operation has been completed.
The push & hold operation is judged as completed if the current-limiting value set in the position table has been
maintained for the period set in parameter No. 6.
Set an optimal value in consideration of the material, shape, etc., of the work, as well as the current-limiting value.
The minimum setting unit is 1 msec and the maximum judgment period is 9999 msec. The factory setting is 255
msec.
(Note)
If the work has shifted and the current has changed during the push & hold judgment, the judgment
follows the timing chart shown below. This example assumes a judgment period of 255 msec.
After reaching the push current, it is maintained for 200 msec. The current drops during the subsequent 20 msec
period, and accordingly the count is decremented by 20. Therefore, when the operation is resumed the count will
start from 180. Since the count will reach 255 after 75 msec at the push current, the controller will determine that
the push & hold operation has been completed.
In this example, the total judgment period is 295 msec.
Speed Push speed
Work
Positioning band
Push current
Start position Target position
Counting continues until 200
Count starts
Count is decremented to 180
Count is incremented to 255
Judgment of push & hold completion