IAI America ERC2 User Manual

Page 81

5. Explanation of Operating Functions

[1] Specification of push & hold mode

Set a value (current-limiting value) “other than 0” in the “Push” field of the position table.

To specify the push & hold mode numerically, set bit 0 of the control flag specification register CTLF to “1.”

[2] Push speed

Set a desired push speed in parameter No. 34 (Push speed).

(An appropriate push speed has been set at the factory in accordance with the actuator model.)

[3] Maximum push amount

Set a desired amount in the “Positioning band” field of the position table.

To specify the maximum push amount numerically, set the applicable value in the positioning band

(Consider a position error that may generate when installing the work part, and if the work part is made of

elastic material, also consider a possible deflection.)

[4] Push direction

The push direction is specified by the sign in the “Positioning band” field of the position table.

To specify the push direction numerically, set bit 1 of the control flag specification register CTLF to “0” or

“1.”

[5] Push & hold completion judgment

Push & hold completion judgment is made based on the generated motor torque (push force) and push

time.

Set the push force as a current-limiting value (%) in the “Push” field of the position table. To specify the

push force numerically, set the applicable value in the push-current limiting value during push & hold

operation register (PPOW).

* Determine an appropriate push force based on the characteristics (shape, material, etc.) of the work part,

and then determine the corresponding current-limiting value using the relation diagram of “push force and

current-limiting value” for the applicable actuator.

Set the push & hold stop judgment period in parameter No. 6.

(The factory setting is 255 msec.)

[6] Continuous push & hold

Although the position complete signal turns “1” once a completion of push & hold operation is recognized,

the actuator will perform the push & hold operation continuously until the next movement command is

issued (command position number and positioning start signals are output).

If the actuator contacts the work part before reaching the target position, a servo error alarm will

generate. Pay due attention to the position relationship of the target position and the work part.

Even when the actuator appears stationary, it actually continues to push the work part at the push force

determined by the current-limiting value. Since the actuator is not physically stopped, exercise due

caution when handling any actuator-related operation during this period.