IAI America PCON-CFA - Manual (Page 142)

4. SCON-CA
136
(26) Load output judgment (LOAD) PLC input signal
This signal is valid only during push-motion operation.
To use an actuator in a press-fit application, whether or not the specified load threshold has reached during the
push-motion operation must be recognized.
The load threshold and certification band are set by the PLC, and this signal will turn ON when the command
torque (motor current) exceeds the threshold inside the certification band.
For this signal, judgment is made based on whether the command torque has exceeded the threshold for the
specified total time.
The specific procedure is the same as that for push judgment. The load output judgment time can be changed as
desired using parameter No. 50, “Load output judgment time.”
This signal will be retained until the next move command is received.
x Set the push speed using parameter No. 34, “Push speed.”
The parameter has been set to an appropriate value at the factory according to the characteristics of each
actuator.
Specify an appropriate speed by considering the material and shape of the load, etc.
x Set parameter No. 50, “Load output judgment time.”
x Set parameter No. 51, “Torque certification range” to “0 [Enable].”
x Set the threshold certification band using the PLC’s zone boundary+ and zone boundary- (*).
x Set the threshold using the PLC’s load current threshold (*).
x Set the positioning band using the PLC’s positioning band (*).
Set a positioning band slightly longer than the last position by considering the mechanical variation of the load.
For details, refer to the operation manual for the controller.
(*) Refer to 4.4.1.
Warning: x If the actuator contacts the load before the target position is reached, a servo error will occur.
Pay due attention to the position relationship of the target position and load.
x The actuator continues to push the load at the standstill push current determined by the
current-limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator, etc., in
this condition.
This signal turns ON here due to the
command torque exceeding the threshold
inside the torque certification range. The positioning complete signal turns ON here upon
judgment of completion of push-motion operation
following the actuator’s contact with the load.
Target position
Speed
Travel
Certification
band
Positioning band (maximum push distance)