IAI America PCON-CA - Manual (Page 123)

Chapter 3 Operation
POWER CON
PCON-CA/CFA
115
3) First define the positioning in position No.1. Next, the operation in position No.2 moves the
actuator to the position of 80mm at the setting speed and rating torque and change to the
tension operation. The actuator moves by 50mm in the negative direction in the tension
operation. The upper limit of the tensile force is the torque set in percent.
4) In the similar way as pressing, the positioning complete signal is output when the shaft is
stopped by tension (pressing complete). If the actuator cannot be stopped during
movement within the setting positioning width (miss-pressing), it moves by the setting
distance to stop but PEND is not turned ON. The current position No. PE* is turned on at
the completion of pressing and even in miss-pressing.
 
Caution: (1) The speed during tension operation is set in Parameter No.34. [Refer to
9.5 List of Specifications of Connectable Actuators for the pressing speed.]
Do not set any value larger than the value in the list. If the speed set in the
position table is equal to or less than the tension speed, the tension
operation is performed at the setup speed.
(2) The tension ready position should be the tension start position or forward. If
not, the moving direction varies depending on the start position to be
dangerous.
The tension operation from a coordinate (less than 30mm = 80 – 50)
located before the end position (30mm) changes to the pressing operation
from the current position to the tension end position. Note that the tension
operation after positioning to the position of 80mm does not take place.
(3) The work is pulled also after completion of the tension. The work is drawn
back or pulled further if the work is moved. When the work is drawn back
before the approach position, alarm code 0DC “pressing operation range
error” occurs to stop the work. When the work is moved in the tension
direction and the load current becomes less than the current limit value
(pressing in percent), PEND is turned OFF. Naturally, the work reaches the
tension moving distance set in “Positioning width” to cause miss-pressing.
(4) Pulling operation cannot be performed with the rotary actuator.
Command Torque Level Detection at Pulling [Function dedicated for High-Thrust Actuator Type]
It is available to use in the same manner as for pressing. [Refer to Pressing Operation in
3.2.5 [3] Position Number Input Operation = PIO Pattern 4.]
Pressing Operation
ST*: Start position
ST*
ST*
ST*
Tension Operation Approach Operation
Tension Operation
Tension start position
80mm
Temsion end position
80 – 50 = 30mm