IAI America ERC2 - Manual (Page 129)


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If the actuator has missed the work part, the position complete
signal does not turn ON. Therefore, it is recommended that the zone
output be used to determine if the final position has been reached.
Position 1 Position 2 Position 1
Command position
Start
Position complete
Actuator movement
Speed
7.6.1 Notes on Returning in the Incremental Mode after Push & Hold Operation
The reference position to be used when the actuator returns after push & hold operation is different between the
positioning mode and the push & hold mode (the work part was missed).
z Positioning mode
The reference position is the target position for the position number used in the applicable push & hold operation.
In the aforementioned example, the actuator moves to the 240-mm position if position No. 2 is set to –40 mm in the
incremental mode (280 – 40 = 240 mm).
z Push & hold mode
The reference position is the position where the push & hold operation completed.
In the aforementioned example, the actuator moves to the 250.34-mm position if position No. 2 is set to –40 mm in the
incremental mode and the push & hold operation completed at 290. 34 mm (290.34 – 40 = 250.34 mm).
(Note) In this case, the controller determines that the actuator has missed the work part and thus does not turn ON
the position complete signal.
It is therefore recommended that the zone output signal be used to determine completion of push & hold
operation on the PLC side.
Caution: When the start signal turns ON, the position complete output will turn OFF.
The start signal must be turned OFF with the confirmation that the position complete output has
turned OFF while the start signal remains ON.
If the actuator has missed the work part, the position complete output will not turn ON as shown
below.
Speed Position where the push &
hold operation completed
Return operation
Returned position
240 mm
Target position
280 mm
Speed
Position where the push & hold
operation completed
290.54 mm
Return operation
Returned position
250.34 mm
Target position
280 mm