IAI America SCON-CA - Manual (Page 139)

Chapter 3 Operation
129
Judging completion of pressing operation
(1) Normal case (PIO pattern 4):
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 [%]) � 255ms (Parameter No.6)
(2) Pressing operation using force sensor (PIO pattern 7):
If the pressing force during pressing operation satisfies the following condition against the
pressing force set in percent by “Pressing” in the position table, pressing complete signal PEND
is turned ON. This occurs even if the actuator does not stop.
� Condition:
(Accumulated time in which pressing force enters within the range between force judgment
margin+ and force judgment margin–) � 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
Time
Pressing setting value [%]
150ms 50ms 135ms
415ms
(150 + 135 + 50) – (50 + 30) � 255ms
Pressing Completion (PEND Output)
Contacting work
Work pressed back by external force
and increase in pressing force
Force judgment margin- [%]
Force judbement margin+ [%]
Pressing Force Decreace in pressing force
due to movement of work
50ms 30ms