IAI America PCON-CFA - Manual (Page 141)

3. PCON-CA/CF
A
135
(26) Load output judgment (LOAD) [PLC input signal]
This signal is effective only during push-motion operation.
To use the LOAD signal in a press-fit application, the controller must know whether the specified load threshold
has been reached during push-motion operation.
The load threshold and check range are set by the PLC, and the LOAD signal will turn ON when the command
torque (motor current) exceeds the threshold inside the check range.
Under the LOAD signal, judgment is made based on whether the command torque has exceeded the threshold
for the specified time cumulatively.
The processing procedure is the same as the procedure applicable to push judgment. The time of load output
judgment can be changed freely using parameter No. 50, “Load output judgment time.”
The status of this signal will be retained until the next move command is received.
x The push speed is set by parameter No. 34, “Push speed.”
The factory setting varies with an individual actuator based on the characteristics of the actuator.
Specify an appropriate speed by considering the material and shape of the load, etc.
x Set parameter No. 50, “Load output judgment time.”
x Set parameter No. 51, “Torque check range” to “0 [Enable].”
x The threshold check range is set by the zone boundary+ channel and zone boundary- channel of the
PLC.
x The threshold is set by the load current threshold channel of the PLC.
x The positioning band is set by the positioning band channel of the PLC.
Set a positioning band slightly longer than the last position, by considering the mechanical variation of the
load.
For details, refer to the operation manual for the controller.
Warning:
x If the actuator contacts the load before the target position is reached, a servo error will
occur. Pay extra attention to the positioning between the target position and the load.
x The actuator continues to push the load at the push current at standstill determined by
the current limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator or
load in this condition.
The LOAD signal turns ON when the
command torque exceeds the threshold
inside the torque check range. The position complete signal turns ON upon
judgment of completion of push-motion operation
after the actuator contacted the load.
Speed
Check range
Travel
Target position
Positioning band (maximum push distance)