IAI America PCON-SE - Manual (Page 76)

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4. Description of Operating Functions
[1] Push & hold mode
 Set a numeric value other than 0 in the “Push” field of the position table. (Current-limiting value)
 In the case of numeric specification, specify “1” to bit 0 in the control flag specification register CTLF.
[2] Push speed
Set the push speed with parameter No. 34 (push speed).
(It is individually set on an actuator model basis before shipment.)
[3] Maximum push amount
 Set the maximum push amount in the “Positioning band” field of the position table.
 In the case of numeric specification, set it in the positioning band register (INP).
(Consider the position error when work is installed, or the depressed amount for work of elastic material.)
[4] Push direction
 Sign of the “positioning band” in the position table
 In the case of numeric specification, set “0” or “1” to bit 1 in the control flag specification register (CTLF).
[5] Push complete judgment
 Push completion is judged with the motor generating torque (push force) and push time.
 For the push force, set a current-limiting value (%) in the “Push” field of the position table. In the case of
numeric specification, set the value in the current-limiting value during push & hold operation register
(PPOW).
* Determine the push force according to the work characteristics (shape, material, etc.) and the
current-limiting value according to the diagram for the relationship between the “push force and
current-limiting value” of the actuator.
 Set the value of the push stop judgment time to parameter No. 6.
(The factory setting is 255 msec.)
[6] Continuous push
 When the push & hold operation is deemed to have completed, the position complete signal turns “1.”
However, the actuator will continue to push the work until the next movement command is issued (= a
command position number is specified and a positioning start signal is output).