IAI America ERC3 - Manual (Page 190)

Chapter 4 Operation
4.2 Operation in Positioner Mode
4.2.2 Operation in Positioner Mode 1
180
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 [%]) t 255ms (Parameter No.6)

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