-61-
No. JXC
※
-OMT0002-C
(3) Movement of the workpiece after completing the pushing operation
(a) The workpiece moves in the pushing direction.
After completing 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 level” of
the profile parameter.
In this case, the INP will be turned OFF and the actuator moves within the positioning range
according to the balance of the force.
During the pushing operation, if the pushing force is higher than the value defined by the
“Trigger level” in the profile parameter for a specified time, the INP will be turned ON again.
(b) Movement of the workpiece in the direction opposite to the pushing direction
(The actuator is pushed back since the reaction force from the workpiece is too large.)
After completing the pushing operation, if the reaction force from the workpiece becomes
larger, the actuator may be pushed back. In this case, while the INP is ON, the actuator will be
pushed back to the point where the reaction force and the actuator pushing force are
balanced (pushed back toward the target position).
If the actuator is pushed back beyond the position of the pushing start, the INP will turn OFF.
Speed
Pushing start position
Pushing operation
"In-Position"
Position
"In-Position"
Speed
Position
Reaction force
Position of pushing start
