- 51 -
No.JXC
※
-OMT0007-D
12.3 Pushing Operation
The pushing operation is active when the value of the "Pushing F%" in the Step data is set to "1" or more.
Similar to the positioning operation, the actuator moves according to the settings of "Position" and
"Speed" in the step data and then, when it reaches the target position, it starts the pushing process.
The actuator pushes the load with a force no more than the maximum force set in the "Pushing force" of
the step data.
(1) Pushing operation is successfully performed.
During the pushing operation, if the pushing force is kept higher than the value specified by "Trigger
LV"
of the step data for a certain time, “INP” will turn ON. Even after the completion of the pushing
operation, the actuator will keep generating the force set in the step data.
•(eg.) Pushing operation
•(eg.) Pushing operation [Speed/Position]
(2) Pushing operation fails (empty pushing).
If the pushing process is not completed even after the actuator runs over the range specified in
the step data from the target position (the starting point of the pushing process), the operation will
be completed. In this case,
“INP” will turn OFF.
(3) Movement of the workpiece after the completion of the pushing process
[1] The workpiece moves in the pushing direction.
After completion of the pushing operation, if the reaction force from the workpiece becomes
smaller, the actuator may move with a force smaller than that specified in the "Trigger LV" of the
step data.
In this ca
se, “INP” will turn OFF and the actuator moves within the positioning range according
to the balance of the force.
If the pushing force is kept higher than the value specified by "Trigger LV" of the step data for a
certain time again, “INP” will turn ON.
Speed
Pushing
process
Position of
pushing start
Pushing
process
In position
Position
Speed
Position of pushing start
→ Step Data "Position"
Actuator
Origin position
Pushing operation
Motor
Load
Ｍ
Pushing
force
Step Data
"Speed"
Step Data
"Positioning range"
Step Data
"Pushing speed"
Position of pushing start
In position
Position
Speed
Pushing
process
Position of pushing start
In position
Position
