IAI America ERC3 - Manual (Page 188)

Chapter 4 Operation
4.2 Operation in Positioner Mode
4.2.2 Operation in Positioner Mode 1
178
(4) Pressing operation
„ Sample use
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
Transported
load
Stop
mode
0
1 0.00 250.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 100.00 250.00 0.20 0.20 50 0 50.00 0.00 0.00 0 0 0 0
(Position No.2 sets pressing operation.)
„ Control method
1) The method of controlling the pressing operation is the same as that described in (1)
Positioning except the setting of the position table. Any setting of “Pressing” in the position
table allows the pressing operation to be done. “Positioning width” is assumed as pressing
operation distance.
2) The actuator moves at the setting speed and rating torque to the position of the coordinate
set in “Position” in the similar way as normal positioning. The operation is executed with the
value set in “Positioning width” for the amount of movement in the pressing operation, and
the torque (current limit) set in % in “Pressing” for the pressing operation as the upper limit.
3) The control method is the same as that in [1] Positioning. However, the processing of
positioning complete signal PEND is different from that in [1] Positioning.
PEND is output when the shaft is stopped by pressing (pressing complete). If the work is
not subject to pressing (miss-pressing), the actuator moves by the value set in “Positioning
width” to stop but PEND is not turned ON.
Velocity
1) 2) 3) 4) 5)
1) 2)
3)
4) 5)
Positioning width 50
Press-fitting process
Caulking process