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7.6. Push Motion
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
Decelerate the speed from position motion to push motion.
(push motion speed must be lower than 400[rpm].)
④
Push motioning until the work detected with specified motor torque. (status : push mode )
⑤
When Push mode is
‘Stop’
:
After the work detected, the motor will stop but the motor torque will be maintained and the
‘inposition’/ ’END’ signal is effective. The maintained motor torque will be return to normal(Servo
ON) status by
‘stop’ command.
(status : release push mode and return to position mode)
When Push mode is
‘Non-stop’
:
After the work detected, the motor will not stop and the motor torque will be maintained and the
‘inposition’ and other signal is effective.
⑥
Additional the next step is needed as below diagram.
The
‘Stop’command must be executed
before next motion command. (In Stop mode it is no need
to ‘stop’ when there is no shock in mechanism) . At this 'stop’ procedure, the motor move to
backward as much as the
‘Push mode’ parameter values. This motion will be reduce the shock in
mechanism. So if the Stop command is not used, ‘Backward motion’ is also not executed.
‘Backward motion’ speed is set to 5000[pps] at this moment.
⑦
Time delay can be needed before returning to start position depends on mechanical conditions.
⑧
Return to start position.
Attention

Non-stop mode : must be excute
the ‘Stop’ command before
next motion command in the work detect situation.