<SM-431049>
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※5: PUSH speed and press-in distance are set using the teaching pendant parameters.
Refer to teaching pendant instruction manual [ETP-2 (SM-431061)] for the operating method.
The press-in distance is set as the distance the actuator reaches before the target position.
Example) If the press-in distance is 5mm and the target position is 100mm, the PUSH movement will
start at 95mm.
※6: If the press-in distance is smaller than the position completion output width, the output will come ON
as soon as it is within the position completion width.
7.5.3
Press-in (CLAMP) Movement
During general transfer movement, it becomes thrust control of general transfer movement under
Section 7.5.1.
After transition to CLAMP movement, it will continue to push at the set current-limiting value.
After the clamping of the work piece starts, it maintains that position. Work piece that changes its
dimension and anything that loses reaction force (such as soft resin and deformable objects) during
CLAMP movement cannot be clamped.
Also, retaining force is lost when the motor power supply is shut down such as power interruptions.
The work piece may fall off in above cases. Please implement safety measures according to need such
as a position-locking mechanism for power shutdowns.
Thrust Control of Press-in (CLAMP) Movement
CLAMP Force（※4)
Press-in
Movement
Press-in Distance（※5)
ON
OFF
CLAMP Starting Point（※6)
CLAMP Time（※5)
Press-in starting
position by contact
with work piece
Displacement
Press-in Speed（※5)
Speed
Setting Speed（※1)
Movement
Starting
Position
target
position
Standby（Speed =0)
Thrust
Max:100% (※2)
Retaining Force(※3)
Position
Completion
Output
General
Transfer
Movement
time
time
time
time
Summary of Contents for ELCR Series
Page 56: ...MEMO...
