IAI America SCON-CA - Manual (Page 140)

Chapter 3 Operation
130
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]
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].
(3) Torque Level Detection during Pressing Operation (Valid in PIO pattern 6)
� Image diagram
Operation start
Pressing Complete
Detect torque level while in pressing operation
Force judgment margin + side
Force judgment margin - side
Setup pressing force
Pressing Completion�(PEND Output)
judging range