IAI America PCON-CA - Manual (Page 150)

Chapter 3 Operation
POWER CON
PCON-CA/CFA
142
[3] Torque Limit Select (TL, TLR)
Input Output
PIO signal
TL TLR
This signal is used to limit the torque of the motor.
While the TL signal is ON, the actuator thrust (motor torque) can be limited to the torque set
in Parameter No.57 “Torque limit”.
With the TL signal being ON, the TLR signal (torque limiting) will turn ON when the actuator
thrust reaches the torque limit.
The TL signal is disabled during home return or forced stop.
Caution:
• Do not turn the TL signal OFF while the TLR signal is ON.
• An excessive deviation (accumulated pulses) may generate while torque is being limited
(TL signal is ON) (for example, the actuator may receive a load just like it receive a
pressing force in pressing operation and therefore become no longer operable). If the TL
signal is turned OFF in this condition, actuator control will start at the maximum torque the
moment the signal changes, thus causing the actuator to move suddenly or run
uncontrollably. After turning TLR signal ON, perform an operation in the reversed way to
confirm TLR signal turns OFF. If the condition is difficult for the reversed movement, turn
the servo OFF or clear the deviation counter (by turning DCLR ON).
[4] Deviation Counter Clear (DCLR)
Input
PIO signal
DCLR
This is the signal to clear the deviation counter that stores the specified pulse until its process
is completely finished (positioning is completed) once a command pulse is input.
It is used when the deviation is desired to be cleared after the pressing by TL signal is
complete (TLR signal ON). Once the deviation is cleared, TLR signal turns OFF and the
condition can be made as it is positioned at the point where the pressing is complete.
Caution: DCLR signal is a signal that is processed at the startup (ON edge). Therefore,
input the pulse train while DCLR signal is on and the actuator will operate.
Turn this signal ON only when the deviation counter is to be cleared.