IAI America ERC3 - Manual (Page 192)

Chapter 4 Operation
4.2 Operation in Positioner Mode
4.2.2 Operation in Positioner Mode 1
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Caution: (1) The speed during tension operation is set in Parameter No.34. The
pressing operation speed is 20mm/s. The speed for pulling operation is
same as that for pressing operation. Do not set any value larger than the
value in the list.
If the speed setting in the position table is below this set value, pressing is
performed with the set speed.
(2) The tension ready position should be the tension start position or forward. If
not, the moving direction varies depending on the start position to be
dangerous.
The tension operation from a coordinate (less than 30mm = 80 – 50 in the
above example) located before the end position (30mm) changes to the
pressing operation from the current position to the tension end position.
Note that the tension operation after positioning to the position of 80mm
does not take place.
(3) The work is pulled also after completion of the tension. The work is drawn
back or pulled further if the work is moved. When the work is drawn back
before the approach position, alarm code 0DC “pressing operation range
over error” occurs to stop the work. When the work is moved in the tension
direction and the load current becomes less than the current limit value
(pressing in percent), PEND is turned OFF. The work reaches the tension
moving distance set in “Positioning width” to cause miss-pressing.
(4) Do not make control of changing to tension operation on the way of normal
positioning (before PEND turning ON). Depending on the position at which
start signal CSTR is turned ON, the tension operation is performed
improperly. Then the PLC cannot manage the position of the actuator.
Pressing Operation
CSTR: Start position
CSTR
CSTR
CSTR
Tension Operation Approach Operation
Tension Operation
Tension start position
80mm
Temsion end position
80 – 50 = 30mm