IAI America REXT - Manual (Page 231)

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Part 1 Specification
Chapter 4 Controller Unit
207
Part 1 Specification
z Push Speed (No. 34, PSHV)
This parameter defines the push speed to become effective after the target position is reached in push operation.
Before shipment, this parameter has been set to a value appropriate for the characteristics of the actuator.
Set an appropriate speed in parameter No. 34 by considering the material and shape of the work part, etc.
Take note that although the maximum speed varies depending on the actuator, it is limited to “20” [mm/sec] even with
high-speed types. Accordingly, set the push speed lower than this level.
Caution
It is recommended that the push speed be set to 5 mm/s or above to reduce the effect of push force fluctuation.
z Push-motion Completion Judgment Time (No. 6, PSWT)
This parameter is used as a condition for determining if the work part is contacted and push operation is completed.
Specifically, push operation is deemed complete if the current-limiting value set in the position table has been maintained for
the time set in parameter No. 6.
Depending on the material and shape of the work part, etc., set an optimal value in combination with the current-limiting value.
The minimum setting unit is 1 msec, and the maximum value is 9999 msec. The factory setting is “255” [msec].
The following shows a case in which the work part has shifted and current has changed during push completion judgment. In
this example, the judgment time is set to 255 msec.
If the push current is maintained for 200 msec and then drops for 20 msec thereafter, the counter is decremented by 20. Upon
recovery of the push current, counting resumes from 180. If the push current is maintained for 75 msec, the counter will have
counted up to 255 and thus completion of push operation is determined.
In this case, the judgment requires a total of 295 msec.
Sp
ee
d
Push speed
Load
Positioning
band
Push current
Start position Target position Counting starts.
Count to 200.
Decrement to 180.
Count to 255.
Completion of push
operation is determined.
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