IAI America MSCON - Manual (Page 211)

3.8 C
ontrol and functions of Input and output signals of Remote I/O Mode
203
Judging completion of pressing operation
The operation monitors the torque (current limit value) in percent in “Pressing” of the position
table and turns pressing complete signal PEND ON when the load current satisfies the
condition shown below during pressing. PEND is turned ON at satisfaction of the condition if the
work is not stopped.
(Accumulated time in which current reaches pressing value [%]) – (accumulated time in which
current is less than pressing value [%]) • 255ms (Parameter No.6)
[4] Tension Operation
„ Image diagram
No.
Position
[mm]
Velocity
[mm/s]
Accele-
ration
[G]
Decele-
ration
[G]
Pressing
[%]
Thresh-
old
[%]
Positioning
width
[mm]
Zone+
[mm]
Zone-
[mm]
Acceleration/
Deceleration
mode
Incre-
mental
Gain
set
Stop
mode
0
1 100.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 80.00 250.00 0.20 0.20 50 0 –50.00 0.00 0.00 0 0 0 0
3
Current
Time
Pressing [%]
Operation start Approach end
Pressing start
200ms 20ms 75ms
295ms
200ms + 75ms – 20ms • 255ms
Pressing Completion (PEND Output)
Contacting work
Decrease in current due to movement of work
Position No.1
Position No.2