IAI Rcon, Instruction Manual, Page: 231 / 838

3.8 I/O Signals
A3-128
ME0384-4A
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Spec
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■ Push mode specification
• For positioner 1~3 and 5 mode and simple direct mode, set a numerical value to something
other than 0 in the "Push" column of the position table. (Pushing current limit value)
• For direct numerical control mode, set the value to the current limit value area at the time of
pushing (8-bit), and set the control signal PUSH (bit 12) to "1" (ON).
■ Push speed
Set Parameter No. 34 "Push velocity".
(Individually set for each actuator model at shipment.)
■ Maximum travel amount at push
-motion operation
• For positioner 1~3 and 5 mode and simple direct mode, set in the "Positioning width" column
of the position table.
• For direct numerical control mode, set a numerical value for the positioning width area.
(When setting, consider the workpiece installation positioning error and the indentation of
elastic workpieces.)
■ Push direction
• For positioner 1~3 and 5 mode and simple direct mode, the sign in the "Positioning width"
column of the position table.
• For direct numerical control mode, set the control signal DIR (bit 13) to "0" (OFF) or "1"
(ON).
■ Pushing complete recognition
• Recognition of pushing complete is done by motor generated torque (pushing force) and
push time.
• Set the push current limit value (%) in the "Push" column of the position table. • For direct
numerical control mode, set in the push current limit value register.
Determine the push force from the workpiece characteristics (shape, material etc.) and then
the push current limit value from the actuator "Push force - Current limit value" relationship
diagram.
• Set the value of Pushing Stop Recognition Time in Parameter No. 6.
(The factory default setting is 255 ms.)
■ Continuous pushing
• When it is determined that push-motion operation is complete, positioning complete signal
PEND becomes "1" (ON), but continuous push-motion operation is performed until the next
travel command (command position number and positioning start signal CSTR) is issued.