IAI America ERC3 - Manual (Page 243)

Chapter 4 Operation
4.2 Operation in Positioner Mode 4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)
233
(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 of PIO converter 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”.
ST*
ST*
ST*: Start position
Tension Operation
Approach Operation Tension Operation
Tension start position
80mm
Temsion end position
80 – 50 = 30mm