IAI America RCP2-CF - Manual (Page 86)

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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. In this case, only the completed
position number will be output. (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 and the
completed position number will be output
continuously.
Spee
d
Moving distance
Positioning band
Completed position number
Output
Spee
d
Moving distance
Positioning band
Position complete signal
Completed position number
Output
Spee
d
Moving distance
Position complete signal
Completed position number
Output