IAI America MSCON - Manual (Page 209)

3.8 C
ontrol and functions of Input and output signals of Remote I/O Mode
201
[3] 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
Gain
set
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. Then the operation changes to
pressing. The moving distance in pressing is the value set in “Positioning width”. The
pressing is performed with the torque (current limit value) set in percent in “Pressing” of PIO
patterns 4 being the upper limit.
Pressing operation using force sensor of PIO pattern 7 performs pressing by the pressing
force set in percent of the base thrust in pressing operation using force sensor *1 .
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. The current position No. PE* is turned ON at the
completion of pressing and even in miss-pressing.
Press-fitting process
Caulking process
2)
1)
Start signal input
for position No.2
(Moving start)
Move
forwarc at
low speed
without stop
Pressing to work
and stop
Pressing held by
setup pressing force
Positioning
Completion
2) 3) 4) 1)
Position 1
Coordinate
Value:100
3) 4)
Positioning width 50
250mm/sec
Without contaction work
until the end of
positioning band,
positioning complete
signal is not output
Work
Stop
status
Acceleration Deceleration
Velocity
Time