IAI America PCON-CF - Manual (Page 91)

73
6. Data Entry
(4) Positioning band was entered with a wrong sign
Take note that if a value with a wrong sign is set in the “Positioning band” field of the position table, the operation
will deviate by a distance corresponding to “positioning band x 2,” as shown below.
6.2.3 Torque Check Function in Push & Hold Operation
(1) Torque check function when a check band is set
After reaching the target position set in the “Position” field of the position table, the actuator moves at the push
speed by the distance set in the “Positioning band” field. If the command torque reaches the threshold before the
specified distance is traveled and while the actuator is inside the threshold check band, the load output will turn
ON.
„ The push speed is set by parameter No. 34, “Push speed.”
The factory setting varies with each actuator in accordance with the characteristics of the actuator.
Set an appropriate speed by considering the material and shape of the work part, among others.
Take note, however, that the maximum speed is limited to 10 mm/s.
„ Set parameter No. 51, “Torque check range” to “0 [Enable].”
„ Set a threshold check band in the "zone + or zone -" filed of the position table.
„ Set a desired threshold in the “Threshold” field of the position table (input range: a desired value within the
specified push force range).
„ Set a desired positioning band in the “Positioning band” field of the position table.
Set a positioning band slightly longer than the last position, in order to absorb possible mechanical variation
of the work part.
For details, refer to Chapter 8, “Parameter Settings.”
Speed
Moving
distance
Positioning
band
Positioning
band
Positioning
band
Actual position
reached (the load
was missed)
Target position
Speed
Moving
distance
Target position
Positioning band
(maximum push distance)
Check band
The load output turns ON here when the
command torque has exceeded the
threshold inside the torque check range.
The position complete signal turns ON here,
as completion of push action is recognized
after the load has been contacted.