IAI America REXT - Manual (Page 131)

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Part 1 Specification
Chapter 3 Gateway R unit
107
Part 1 Specification
[2] When the work part was missed in push operation
If the work part is not contacted (= the motor current does not reach the push-current limiting value) after the actuator
has moved the distance corresponding to the specified positioning band, the position complete signal is not output.
However, the completed position number is output.
In this case, status signal bit 5, or the PSFL, turns “1” (ON).
[3] When the work part moves after contact
„ The work part moves in the push direction
If the work part moves in the push direction after completion of push operation, the actuator will continue to chase the
work part within the positioning band.
If the current becomes smaller than the push-current limiting value during this movement, the position complete
signal will turn “0” (OFF). When the current-limiting value is reached again, the signal will turn “1” (ON).
ڦ When the work part moves in the direction opposite push direction
(The work part is pushed back because the reactive force of the work part is too strong.)
If the reactive force of the work part exceeds the push force and the work part is pushed back after completion of
push operation, the actuator will be pushed back continuously until the push force balances with the reactive force of
the work part.
The position complete signal remains “1” (ON).
If the actuator is pushed back to the target position, an alarm will generate.
Speed
The position complete signal does not turn
ON if the load was not contacted.
Travel distance
Target position
Positioning band (maximum distance traveled in push operation)
Speed
Travel distance
Target position
Positioning band (maximum distance traveled in push operation)
Position at which push operation
was initially judged complete If the load deviates backward, the actuator chases
the load within the positioning band.
Speed
Travel distance
Target position
Positioning band (maximum distance traveled in push operation)
Position at which push operation
was initially judged complete
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