IAI PCON-C - Page 16

(3) SS8C type........................................................................................................ 62
 Rod type ....................................................................................................................... 63
(1) RA2C type........................................................................................................ 63
(2) RA3C type........................................................................................................ 63
(3) RA4C type........................................................................................................ 64
(4) RA6C type........................................................................................................ 64
(5) RA10C/W-RA10C type .................................................................................... 65
6.2 Explanation of Modes ................................................................................................................ 66
6.2.1 Positioning Mode .................................................................................................. 66
6.2.2 Push & Hold Mode................................................................................................ 66
6.2.3
Torque Check Function in Push & Hold Operation ............................................... 68
6.2.4 S
peed Change during Movement ......................................................................... 70
6.2.5
Operation at Different Acce
leration and Deceleration Settings ............................. 70
6.2.6 Pause ................................................................................................................... 71
6.2.7 Zone
Signal Output............................................................................................... 71
6.2.8 Home Return ........................................................................................................ 72
6.2.9 Ov
erview of Teaching T
ype................................................................................... 73
6.2.10 Overview of 7-point Ty
pe ...................................................................................... 74
6.2.11 Overview of 3-point Ty
pe ...................................................................................... 76
6.3 Notes on the ROBO Gripper...................................................................................................... 78
6.4 Power-saving Modes at Standby Positions ............................................................................... 80
6.5 Using a Rotary Actuator in Multi-rotation Specification.............................................................. 83
6.5.1 How to Use ........................................................................................................... 83
7. Operation <Practical Steps>.................................................................................... 84
7.1 How to Start ............................................................................................................................... 84
7.1.1 Timings after Power On ........................................................................................ 84
 Procedure after initial startup until actuator adjustment .................................................... 84
 Procedure of Normal Operation......................................................................................... 86
7.1.2 Position Table and Parameter Settings Required for Operation ........................... 88
 Startup adjustment............................................................................................................. 88
Safety speed during manual feed...................................................................................... 88
Speed override for movement commands from the PLC .................................................. 88
 Full-scale operation ........................................................................................................... 89
Saving energy when the actuator stands by for a long time after the power has been
turned on............................................................................................................................ 89
Saving energy when the actuator stands by after completing the home return operation
effected by the HOME input signal .................................................................................... 89
Saving energy when the actuator stands by for a long time at the target position............ 89
Output mode of complete signal ........................................................................................ 89
7.2 Home Return Operation ............................................................................................................ 90
7.2.1 Method Using the HOME Input Signal (PIO Pattern = 0 to 4)............................... 90
7.2.2 Method Used When No HOME Input Signal Is
Available (PIO Pattern = 5).......... 92
7.3 Positioning Mode (Back and Forth Movement between Two Points)........................................ 93
7.4 Push & Hold Mode..................................................................................................................... 95
7.4.1 Return Action after Push & Hold by Relativ
e Coordinate Specification................. 97
7.5 Speed Change during Movement.............................................................................................. 98
7.6 Operation at Different Acceleration and Deceleration Settings ............................................... 100
7.7 Pause....................................................................................................................................... 102