IAI RoboNet, Operation Manual

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97
Part 1 Specification
3.8.4 Other Basic Operations
(1) Push operation
[1] Basic operation
As shown below, the actuator moves to the specified target position, and then moves at the specified push speed by
up to the specified positioning band while pushing the load.
The moment the push force reaches a certain value during push movement, completion of push is recognized and
the position complete signal turns “1” (ON).
•
Image of push direction
As shown above, when the actuator pushes from the start point to the target position the direction in which the coordinate
increases is defined as the positive (+) direction, while the direction in which the coordinate decreases is defined as the
negative (-) direction. Exercise caution because if the push direction is set incorrectly, the actuator will not operate correctly
and push the load at a position offset toward the start point by the distance of “positioning band x 2.”
Speed
When the load is contacted, completion of push is recognized
and the position complete signal turns ON.
Travel distance
Push speed
Target position
Positioning band (maximum distance traveled in push operation)
Actuator
Hom
e
S
tar
t po
in
t
T
a
rget positio
n
Push direction
Positioning band
(sign +)
Actuator
Hom
e
S
tar
t po
in
t
Push direction
Positioning band
(sign -)
Speed
Start point
Target position
Position
When the sign is
set to (-)
When the sign is
set to (+)
Position
Start point
Speed
Positioning
band
Target position
Positioning
band
Positioning
band
Positioning
band
Correct operation Correct operation
T
a
rget positio
n