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Figure 4-7: Push Motion (Stop Mode).
1. A work was detected before reaching the target position. The detection status can be
judged by Push Detected (Bit 14) of Status word. Controller does quick-stop when work is
detected.
2. The target position has been reached without detecting a work.
Information
If the motor speed is fast or the value of the Push ratio is low, it may be determined that
work is detected even if a work is not detected actually. In this case, lower the motor speed
or increase the Push ratio.
Information
The ’Input next target position’ and ’Target position override’ commands are not allowed
during the Push Motion.
4.5.4.5
Push Motion (Non-stop Mode)
The Push Motion (Stop Mode) of STDF EC moves the motor to the Target Position while
maintaining the specified torque. Stops motor when work is detected, but it moves again
when work is gone. It continues the Push Motion until a stop command is received. The motor
torque during the Push Motion can be set through the Push ratio of Object 201Ah: Push
Mode. Pull back distance of Object 201Ah: Push Mode allows to set the distance to pull back
the motor when the Push Motion is finished.
Push (Bit 13) before change New Set-Point (Bit 4) of the Control word from RESET to SET.
Once the controller receives this request, Set-Point Acknowledge (Bit 12) and Push State (Bit
