IAI America PCON-CA - Manual (Page 121)

Chapter 3 Operation
POWER CON
PCON-CA/CFA
113
Command Torque Level Detection at Pressing [Function dedicated for High-Thrust Actuator Type]
This is a function to detect whether the specified load is applied to the actuator by checking
the torque while in press-fitting operation when having a press-fitting process with the
pressing operation. If there is no resistance in press-fitting, the specified load would not be
applied, thus it is defined as the normal pressing is not conducted and an alarm can be
issued from PLC.
The torque level status (TRQS) signal always monitors the current commanded pressing
force by comparing with the pressing force set in % in “Threshold” in the position data, and
turns ON when the command exceeds and turns OFF when it goes below the threshold.
The load output judgment status (LOAD) signal turns ON when TRQS keeps turned ON for
certain time (Note 1) . This signal is kept ON once it is turned ON until the next movement
command or servo OFF.
Ɣ Condition for LOAD to turn ON
(Total time of pressing current to reach above threshold) – (Total time of pressing current
to get below threshold) • 255ms (Parameter No.50)
This function is able to make a judgment (Note 2) in a required range within the pressing
operation range.
Note 1 Establish the setting in Parameter No.50 Load Output Judgment Time
Note 2 Set Parameter No.51 Torque Detection Range effective, and indicate the range in
“Position Zone” in the position data.
TRQS
LOAD
125ms - 5ms + 135ms ≥ 255ms
Load output judgment (LOAD output)
Pressing current being
dropped below threshold
Touched to work
Pressing Current
Pressing [%]
Threshold [%]
Time
125ms
5
ms 135ms
265ms