IAI America ERC3 - Manual (Page 202)

Chapter 4 Operation
4.2 Operation in Positioner Mode
4.2.2 Operation in Positioner Mode 1
192
(4) 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
„ Control method
The control logic for the pulling operation is as same as the one for (3) 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 – (negative 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) Like the pressing operation, Current Position No. PE* is output when the axis stops by
pressing operation (pressing complete). Also, even when not stopping during a move in the
set range (pressing error), a movement is made for the setting of “Positioning width”, and
then turns ON.
ST*
ST*
ST*: Start position
Tension Operation
Approach Operation Tension Operation
Tension start position
80mm
Temsion end position
80 – 50 = 30mm