IAI America ERC3 - Manual (Page 241)

Chapter 4 Operation
4.2 Operation in Positioner Mode 4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)
231
Caution: (1) The speed during pressing operation is set in Parameter No.34. The
pressing operation speed is 20mm/s.
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 approach start position of pressing should be located at or before the
pressing start position (coordinate 100mm or less in the above example) If
not, the moving direction varies depending on the start position to be
dangerous.
For example, pressing at coordinate larger than the pressing end position
(larger than 150mm) is performed in the direction from the current position
to the pressing end position. It would not proceed to the pressing operation
at 150mm point after positioning at 100mm point.
(3) The work is pressed after the pressing is completed. The work may moves
backward or forward. If the actuator is moved backward before the
approach position, alarm code 0DC “Pressing operation range over error”
occurs to stop the actuator. In movement of the work in the pressing
direction, PEND is turned OFF if the load current becomes lower than the
current limit (pressing [%]). Miss-pressing occurs when the actuator moves
by the pressing moving distance set in “Positioning width”.
(4) If the actuator gets pressed to the work during the approach operation, 0DC
“Pressing operation range over error” would be issued.
Positioning completion signal
PEND
(ControlleroPLC)
Turned OFF by
turning PEND ON
Turned ON even
in miss-pressing
Start signal
ST*
(PLCoController)
Current position No.
PE*
(ControlleroPLC)
Not turned ON for
miss-pressing
Pressing
operation
Pressing
Completion
Operation of actuator Approach operation
Positioning by setting
of coordinate Value
Movement by
positioning
width
Stop of
pressing
Pressing start position
100mm
Pressing end position
100 + 50 = 150mm
ST*
Pressing operation
ST*
Approach operation
ST*:Start position
ST*
Pressing operation
Tension operation