IAI America ERC3 - Manual (Page 191)

Chapter 4 Operation
4.2 Operation in Positioner Mode 4.2.2 Operation in Positioner Mode 1
181
(5) Tension Operation
„ Image diagram
Position No.1
Position No.2
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
1 100.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 80.00 250.00 0.20 0.20 50 0 –50.00 0.00 0.00 0 0 0 0
3
CSTR : Start position
„ Control method
The method of controlling the tension operation is the same as that described in (4) Pressing
operation. The control method is explained below by using the sample position table shown
above.
1) Position No.2 indicates the settings of tension operation. The settings of “Position” and
“Positioning width” show the tension start position and the tension quantity, respectively.
Attach – (minus sign) to the tension quantity. Specify the upper limit of the torque required
for tension in percent (limited current value) in “Pressing”. The speed, acceleration, and
deceleration are the conditions of positioning to the coordinate value (80mm) set in
“Position”.
2) Position No.1 indicates the tension start preparation position. Specify a value larger than
the coordinate value at which the tension provided by position No.2 ends (80 – 50 = 30mm)
in “Position”.
3) First define the positioning in position No.1. Next, the operation in position No.2 moves the
actuator to the position of 80mm at the setting speed and rating torque and change to the
tension operation. The actuator moves by 50mm in the negative direction in the tension
operation. The upper limit of the tensile force is the torque set in percent.
4) In the similar way as pressing, the positioning complete signal is output when the shaft is
stopped by tension (pressing complete). If the actuator cannot be stopped during
movement within the setting positioning width (miss-pressing), it moves by the setting
distance to stop but PEND is not turned ON.
CSTR
Tension Operation
CSTR
Approach Operation Tension Operation
Tension start position
80mm
Temsion end position
80 – 50 = 30mm