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(4) Positioning band was entered with a wrong sign
Take note that if a value with a wrong sign is set in the “Positioning band” field of the position table, the
operation will deviate by a distance corresponding to “positioning band x 2,” as shown below.
6.2.3 Torque Check Function in Push & Hold Operation
(1) Torque check function when a check band is set (Available only with the PCON-CF)
After reaching the target position set in the “Position” field of the position table, the actuator moves at the
push speed by the distance set in the “Positioning band” field. If the command torque reaches the
threshold before the specified distance is traveled and while the actuator is inside the threshold check
band, the load output will turn ON.
The push speed is set by parameter No. 34, “Push speed.”
The factory setting varies with each actuator in accordance with the characteristics of the actuator.
Set an appropriate speed by considering the material and shape of the load, among others.
Take note, however, that the maximum speed is limited to 10 mm/s.
Set parameter No. 51, “Torque check range” to “0 [Enable].”
Set a threshold check band in the "zone + or zone -" filed of the position table.
Set a desired threshold in the “Threshold” field of the position table (input range: a desired value
within the specified push force range).
Set a desired positioning band in the “Positioning band” field of the position table.
Set a positioning band slightly longer than the last position, in order to absorb possible mechanical
variation of the load.
For details, refer to Chapter 8, “Parameter Settings.”
Speed
Moving
distance
Positioning
band
Positioning
band
Positioning
band
ctual position
reached (the load
was missed)
Target position
Speed
Moving
distance
Target position
Positioning band
(maximum push distance)
Check band
The load output turns ON here when the
command torque has exceeded the
threshold inside the torque check range.
The position complete signal turns ON here,
as completion of push action is recognized
after the load has been contacted.
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