IAI America ERC - Manual (Page 89)

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(2) Load was not contacted (missed)
(1) After reaching the target position, the actuator
will move at low speed.
Even after contacting the load, the actuator will
move to the end of the positioning band if the
stepper motor current is yet to reach the current-
limiting value.
The position complete output will not turn ON
even when the end of the positioning band is
reached. (Provide a timeout check process after
a sufficient period with a PLC.)
(3) Load moves during push & hold operation
(a) Load moves in the pushed direction
If the load moves in the pushed direction after the
position complete output has turned ON, the
actuator will push the load within the positioning
band.
If the current drops below the limiting value, the
position complete signal will turn OFF. The signal
will turn ON when the current rises to or above the
limiting value.
(b) Load moves in the opposite direction
(Actuator is pushed back by the reactive force of the load)
If the actuator is pushed back after the position
complete output has turned ON because the
actuator thrust is smaller than the reactive force of
the load, the actuator will be pushed back all the
way until its thrust balances out with the reactive
force of the load.
The position complete output will remain ON.
Spee
d
Moving distance
Positioning band
Position complete
signal is not output
Spee
d
Moving distance
Positioning band
Position complete signal
Output
Spee
d
Moving distance
Position complete signal
Output