2 operation in positioner mode, 1 set of position table – IAI America ERC3 User Manual
Page 169
Chapter 4 Operation
4.2 Operation in Positioner Mode
4.2.1 Set of Position
Table
159
4.2 Operation in Positioner Mode
4.2.1 Set of Position Table
[It is not necessary to set up for Pulse Train Control Mode. Refer to Section 4.4 [2] for MEC
Mode.]
The values in the position table can be set as shown below. The number of position will be
displayed according the selected pattern. If specifying the speed, acceleration, and
deceleration is not required, only the position data needs to be written. The speed, acceleration,
and deceleration are automatically set to the data defined by the relevant parameters.
Therefore, setting the speed, acceleration, and deceleration data often used to the relevant
parameters makes input easy.
1)
2)
3)
4)
5)
6)
7)
8)
9)
10)
11)
12)
13)
14)
15)
No.
Position
[mm]
Velocity
[mm/s]
Accele-
ration
[G]
Decele-
ration
[G]
Pressing
[%]
Thresh-
old
[%]
Positioning
width
[mm]
Zone+
[mm]
Zone-
[mm]
Acceleration/
Deceleration
mode
Incre-
mental
Transported
load
Stop
mode
Vibration
suppress
No.
Comment
0
0.00
100.00
0.30
0.30
0.00
0.00
0.10
0.00
0.00
0
0
0
0
0
1
100.00
100.00
0.30
0.30
0.00
0.00
0.10
0.00
0.00
0
0
0
0
0
2
150.00
200.00
0.30
0.30
50.00
0.00
30.00
0.00
0.00
0
0
0
0
0
3
200.00
400.00
1.00
1.00
0.00
0.00
0.10
0.00
0.00
0
0
0
0
1
4
200.00
200.00
0.30
0.30
0.00
0.00
0.10 250.00 230.00
0
0
0
0
2
5
500.00
50.00
0.10
0.10
0.00
0.00
0.10
0.00
0.00
0
0
0
0
0
6
7
1) Position No.·············· The number is specified by PLC at start.
Caution: In an operation mode that indicates the position number in a binary number, do
not use Position No.0 if there is a margin in the positions.
At the first servo ON after power ON, the completed position No. output is 0
even if the actuator is not located at position No.0. The actuator enters into the
same state as that at positioning to position No.0. The completed position No.
output is 0 during movement of the actuator. To use position No.0, get the
command history by using the sequence program to check completed position
No.0 based on the history.
2) Position [mm] ··········· Positioning coordinate value. Enter it as the distance from the home
position.
For pitch feed (relative movement = incremental feed), enter the pitch
width.
A value with – indicates that the actuator moves toward the home
position. A value without – indicates that the actuator moves to be
away from the home position.
3) Velocity [mm/s]········· Set the velocity in the operation.
Do not attempt to input a value more than the maximum velocity or
minimum velocity
(Note 1)
.
(Note 1) For the minimum speed, you can either check in “1.2.1
Actuator” or figure out from the formula below.
Min. Speed [mm/s] = Lead Length [mm] / No. of Encoder Pluses / 0.001 [s]