IAI America SCON-CA - Manual (Page 141)

Chapter 3 Operation
131
� Control method
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.
It monitors the pressing force set in % in “Threshold” in the position data, and turns the torque
level status (TRQS) signal ON when the pressing force reaches the following condition. At the
same time, load output judge (LOAD) signal also turns ON if it is in the position zone.
This signal turns OFF either when a movement command to another position is issued or the
servo is turned OFF. This signal is kept ON once it is turned ON until the next movement
command.
� Condition:
(Total time of pressing force to reach above threshold) – (total time of pressing force to get
below threshold) � 255ms (parameter No.6)
265ms
110ms + 5ms + 10ms – 5ms + 135ms ≥ 255ms
Load output judgment (TRQS output)
TRQS
LOAD
Pressing Force
Push [%]
Threshold [%]
Time
ms ms ms
5 10 5
110ms 135ms
Position zone
Pressing force exceeding
force judgment margin is
occurred
Pressing force being
dropped below threshold
Positive side of force judgment margin
Negative side of force judgment margin
Touched to work