IAI America ERC3 - Manual (Page 171)

Chapter 4 Operation
4.2 Operation in Positioner Mode 4.2.1 Set of Position
Table
161
8) Positioning width [mm] ······In PIO Patterns 0 to 4 in Positioner Mode 1 (for ERC3 unit) and
Positioner Mode 2 (when PIO Converter is used), the
positioning complete signal is output when the remaining
movement amount gets into the area that is set in them when
positioning is conducted.
For pressing, actuator will first move to the position of the
coordinate set in 2) at the set velocity, acceleration, and
deceleration. It will then, performs pressing movement by the
data set here.
For the positioning width, make its width at least 4 times larger
than the minimum unit of the movement (movement amount of
1 pulse of the encoder) of the used actuator.
It is not the output range of the complete signal for the
positioning command if PIO pattern 5 of PIO converter. Despite
the specified position number, the relevant output signal LS* is
turned ON when the actuator reaches the setting range. The
operation is accomplished as if a sensor were installed to
detect the actuator. PIO pattern 5 does not correspond to the
pressing operation.
[Example for Positioner Mode 2, PIO Pattern 5 of PIO Converter]
The figure below shows the position table and the position at which each of the LS signals is
turned ON. If the actuator passes any of the positioning width in the operation by another
position number or manual operation in the servo-off state, the relevant LS signal is always
turned ON.
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
0 0.00 250.00 0.20 0.20 0 0 5.00 0.00 0.00 0 0 0 0
1 70.00 250.00 0.20 0.20 0 0 10.00 0.00 0.00 0 0 0 0
2 150.00 250.00 0.20 0.20 0 0 5.00 0.00 0.00 0 0 0 0
9) Zone + [mm] ·············Set the coordinate value on the positive side at which position zone
output signal PZONE is turned ON. PZONE is set to ON in the zone
between this value and the coordinate value on the negative side set
in 10).
The feature follows the specified position number. It is valid only
when the position is specified but invalid in another position
operation.
10) Zone - [mm]··············Set the coordinate value on the negative side at which position zone
output signal PZONE is turned ON.
70mm Home=0mm
LS2 is ON
150±5mm
LS1 is ON
70±10mm
LS0 is ON
0±5mm
150mm