IAI America ERC3 - Manual (Page 242)

Chapter 4 Operation
4.2 Operation in Positioner Mode
4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)
232
Judging completion of pressing operation
The torque (current limit value) set in % in “Pressing” in the position table, and turns ON the
pressing complete signal PEND when the load current reaches the following condition. PEND
is turned ON at satisfaction of the condition if the work is not stopped. It is the same for PE*.
(Accumulated time in which current reaches pressing value [%]) – (accumulated time in which
current is less than pressing value [%]) • 255ms (Parameter No.6)
Current
Time
Pressing [%]
Operation
start
Approach end
Pressing start
200ms 20ms 75ms
295ms
200ms + 75ms – 20ms • 255ms
Pressing Completion (PEND Output)
Contacting work
Decrease in current due to movement of work