IAI America PCON-CF - Manual (Page 15)

6.2.9 Overview of Teaching Type........................................................................................... 78
6.2.10 Overview of 7-point Type .............................................................................................. 79
6.2.11 Overview of 3-point Type .............................................................................................. 81
6.3 Notes on the ROBO Gripper..............................................................................................83
6.4 Power-saving Modes at Standby Positions........................................................................85
6.5 Using a Rotary Actuator in Multi-rotation Specification ......................................................88
6.5.1 How to Use ................................................................................................................... 88
7. Operation .................................................................................... 89
7.1 How to Start .......................................................................................................................89
7.1.1 Timings after Power On ................................................................................................ 89
„ Procedure after initial startup until actuator adjustment .................................................... 89
„ Procedure of Normal Operation ......................................................................................... 91
7.1.2 Position Table and Parameter Settings Required for Operation................................... 93
„ Startup adjustment............................................................................................................. 93
Safety speed during manual feed ...................................................................................... 93
Speed override for movement commands from the PLC .................................................. 93
„ Full-scale operation............................................................................................................ 94
Saving energy when the actuator stands by for a long time
after the power has been turned on................................................................................... 94
Saving energy when the actuator stands by after completing
the home return operation effected by the HOME input signal.......................................... 94
Saving energy when the actuator stands by for a long time at the target position ............ 94
Output mode of complete signal ........................................................................................ 94
7.2 Home Return Operation ....................................................................................................95
7.2.1 Method Using the HOME Input Signal (PIO Pattern = 0 to 4) ...................................... 95
7.2.2 Method Used When No HOME Input Signal Is Available (PIO Pattern = 5)................. 97
7.3 Positioning Mode (Back and Forth Movement between Two Points) .................................98
7.4 Push & Hold Mode...........................................................................................................
7.4.1 Return Action after Push & Hold by Relative Coordinate Specification ......................
7.5 Speed Change during Movement ....................................................................................103
7.6 Operation at Different Acceleration and Deceleration Settings ........................................105
7.7 Pause ..............................................................................................................................107
7.8 Zone Signal Output..........................................................................................................109
7.9 Incremental Moves .......................................................................................................... 112
7.9.1 Judgment Method of End Position.............................................................................. 114
7.9.2 Notes on Incremental Mode........................................................................................ 115
7.10 Jogging/Teaching Using PIO ........................................................................................... 118
7.11 Operation in 7-point Type ................................................................................................ 120
7.12 Operation in 3-point Type ................................................................................................124
100
102
6. Data Entry ................................................................................................ 66
6.1 Description of Position Table .............................................................................................66
6.1.1 Relationship of Push Force at Standstill and Current-Limiting Value ........................... 70
6.2 Explanation of Modes ........................................................................................................70
6.2.1 Positioning Mode Push = 0 ........................................................................................... 70
6.2.2 Push & Hold Mode Push = Other than 0 ...................................................................... 70
6.2.3 Torque Check Function in Push & Hold Operation ....................................................... 73
6.2.4 Speed Change during Movement ................................................................................. 75
6.2.5 Operation at Different Acceleration and Deceleration Settings .................................... 75
6.2.6 Pause............................................................................................................................ 76
6.2.7 Zone Signal Output ....................................................................................................... 76
6.2.8 Home Return................................................................................................................. 77