2.3.1. Servohand parameter

2.3.1. Servohand parameter

 

(1)   Max close position [-3000 to 3000]mm

Refers to the maximum distance of squeezing the servo hand, this is also a target position of automatic/manual squeezing.

 

(2)   Max open position [-3000 to 3000]mm

Refers to the maximum distance of opening the servo hand, this is also a target position of manual opening.  In automatic opening, this information is considered an opening limit. While no opening offset distance is entered in HANDOPEN command, if the servo hand opening exceeds the opening stroke, 『E1327 Servo hand maximum open position is exceeded』 error will occur.

 

(3)   Squeeze speed [1 - 1000]mm/s

Refers to the movement speed of the servo hand (moving side) while being squeezed.

 

(4)   Squeeze force match rate [1 - 100]%

If an actual squeeze force reaches within the squeeze force range set during the squeeze force match assessment, the squeeze force is determined to match.

 

(5)   Squeeze force error detection delay [0.0 – 5.0]sec

Determines the time from beginning squeezing to when the squeeze force matches the setting. If the squeeze force does not match within this time set, 『E1329 Servo hand squeeze alignment detection time is exceeded』 error message will be indicated to stop the operation.  

 

(6)   Squeeze force - Current table

Defines the relationship between the squeeze force occurring at the servo hand and the electric current level of which current is applied through the motor. The Squeeze force-Current table is available for setting electric current values for any of 5 squeeze forces. The upper and the lower limitations of squeeze force set here further become the range limitation for squeeze force of automatic or manual operation. As an assigned electric current may be different from an actual electric current, it is recommended that both electric currents be observed to create the Squeeze force-Current table.