IAI America PCON-CFA - Manual (Page 142)

3. PCON-CA/CF
A
136
(27) Torque level (TRQS) [PLC input signal]
This signal is effective only during push-motion operation.
If the motor current reaches the load threshold during push-motion operation (= while the actuator is moving
within the positioning band), the TRQS signal will turn ON.
Since the level of current is monitored, the ON/OFF status of this signal will also change when the current
changes.
The speed at which the actuator can push the load varies depending on the motor and lead. To set a desired
speed, therefore, the applicable parameters must be adjusted.
x The push speed is set by parameter No. 34, “Push speed.”
The factory setting varies with an individual actuator based on the characteristics of the actuator.
Specify an appropriate speed by considering the material and shape of the load, etc.
x Set parameter No. 50, “Load output judgment time.”
x Set parameter No. 51, “Torque check range” to “1 [Invalid].”
x The threshold is set by the load current threshold channel of the PLC.
x The positioning band is set by the positioning band channel of the PLC.
Set a positioning band slightly longer than the last position, by considering the mechanical variation of the
load.
For details, refer to the operation manual for the controller.
Warning:
x If the actuator contacts the load before the target position is reached, a servo error will
occur. Pay extra attention to the positioning between the target position and the load.
x The actuator continues to push the load at the push current at standstill determined by
the current limiting value.
Since the actuator is not stopped, exercise due caution when handling the actuator or
load in this condition.
The position complete signal turns ON upon
judgment of completion of push-motion
operation after the actuator contacted the load.
Speed
Travel
Target position
Range where the TRQS signal is
output
Positioning band (maximum push dimension)