IAI America MSEP - Manual (Page 94)

3.3 Setting of Position Data
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1) Position Name (No.)·······It shows the position the actuator moves towards.
2) Position [mm] ·················It is the coordinate value for positioning. Input the position from the
home position.
Caution: (1) For gripper type
Setting is to be conducted with the basis on one finger. Set the value for the
movement of one finger from the home position. Stroke information in the
specification is shown in the total value of movement distance of the two
fingers.
Therefore, the stroke is 1/2 of what is described in the specifications.
(2) For rotary type
Set the coordinates from the home position in angle.
3) Speed [mm/s] ·················Set the speed in the operation.
Do not attempt to input a value more than the maximum speed
[refer to the caution note below] or minimum speed (Note 1) .
(Note 1) The minimum speed differs depending on the type of the
actuator. Refer to the values stated in the Chapter 7
appendix or the following for the calculation.
Minimum speed [mm/s] = Lead length [mm] / No. of Encoder Pluses /
0.001 [s]
4) Pressing Force [%]·········Set a value other than 0 here and the pressing operation is
available. Set a pressing torque (limit current value) in %. The
setting range differs depending on the actuator. Refer to the
instruction manual of each actuator or the section for pressing force
and current limit in the appendix for the details. If the value is set to
0, the normal positioning operation is performed.
The speed for the pressing operation is set in Parameter No.7.
If the setting of 3) is lower than the pressing speed, the pressing
process will be conducted with the speed of 3).
Caution: If the pressing speed is changed, the pressing force may differ from that
specified in 7.2 List of Specifications of Connectable Actuators.
When the pressing speed is changed, make sure to measure the actual
pressing force before start using.
5) Pressing Width [mm]······Set the width for the pressing operation.
The amount of the pressing width in front of the movement target
position (forward end and backward end) is the point to start
pressing operation.
Actuator Operation
3) Set it as the “Speed”
2) Set is as the “Position”
Set the pressing speed in Parameter No. 7
When the pressing force set within
the pressing width, reaches,
the pressing operation is completed. Pressing Width