IAI America ERC3 - Manual (Page 200)

Chapter 4 Operation
4.2 Operation in Positioner Mode
4.2.2 Operation in Positioner Mode 1
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Caution: (1) The speed during pressing operation is set in Parameter No.34. The
pressing operation speed is 20mm/s. Do not set any value larger than the
value in the list. If the speed setting in the position table is below this set
value, pressing is performed with the set speed.
(2) The approach start position of pressing should be located at or before the
pressing start position (coordinate 100mm or less in the above example) If
not, the moving direction varies depending on the start position to be
dangerous.
For example, pressing at coordinate larger than the pressing end position
(larger than 150mm) is performed in the direction from the current position
to the pressing end position. It would not proceed to the pressing operation
at 150mm point after positioning at 100mm point.
(3) The work is pressed after the pressing is completed. The work may moves
backward or forward. If the actuator is moved backward before the
approach position, alarm code 0DC “Pressing operation range over error”
occurs to stop the actuator. In movement of the work in the pressing
direction, PE* is turned OFF if the load current becomes lower than the
current limit (pressing [%]). Miss-pressing occurs when the actuator moves
by the pressing moving distance set in “Positioning width”.
(4) If the actuator gets pressed to the work during the approach operation, 0DC
“Pressing operation range over error” would be issued.
Pressing start position
100mm
Pressing end position
100 + 50 = 150mm
ST*
Pressing operation
ST*
Approach operation
ST*:Start position
ST*
Pressing operation
Tension operation