IAI America ERC3 - Manual (Page 320)

Chapter 6
Adjustment of Operation
6.3 I/O Parameter
6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse
Train Control Mode
310
(4) Press & hold stop judgment period (Parameter No.6)
No. Name Symbol Unit Input Range Default factory setting
6
Press & hold stop judgment
period
PSWT msec 0 to 9999 255
Judging completion of pressing operation
(1) The operation monitors the torque (current limit value) in percent in “Pressing” of the position
table and turns pressing complete signal PEND ON when the load current satisfies the
condition shown below during pressing. PEND is turned ON at satisfaction of the condition if
the work is not stopped.
(Accumulated time in which current reaches pressing value [%])
– (accumulated time in which current is less than pressing value [%])
• 255 ms (Parameter No.6)
Current
Time
Pressing [%]
Operation
start
Approach end
Pressing start
200ms 20ms 75ms
295ms
200ms + 75ms – 20ms • 255ms
Pressing complete (PENDoutput)
Contacting work
Decrease in current due
to movement of work