IAI PCON-CB series User Manual

4. Operation
4.2 Operation in Positioner Mode
4-68
ME0342-4B
[3] Pressing Operation
■ Sample use
(Position No.2 sets pressing operation.)
■ Control method
1) The method of controlling the pressing operation is the same as that described in [1]
Positioning except the setting of the position table. Any setting of “Pressing” in the position
table allows the pressing operation to be done. “Positioning width” is assumed as pressing
operation distance.
2) The actuator moves at the setting speed and rating torque to the position of the coordinate
set in “Position” in the similar way as normal positioning. The operation is executed with the
value set in “Positioning Band” for the amount of movement in the pressing operation, and
the torque (current limit) set in percent [%] in “Pressing” for the pressing operation as the
upper limit.
The actuator moves at the setting speed and rating torque to the position of the coordinate
set in “Position” in the similar way as normal positioning. The pressing is performed with the
torque (current limit value) set in percent [%] in “Pressing” of PIO pattern 4 being the upper
limit.
The pressing force when using PCON-CBP/CGBP and the maximum current limit is set
should be the maximum pressing force [N] when force sensor is used. The value for the
target pressing force [N] setting should be figured out with the formula below.
Setting [%]
＝
Max. Pressing Force [N]
when the force sensor is used
(Note 1)
×
Target Pressing Force [N]
Max. Pressing Current Limit [%]
(Note 1)
4.2 Operation in Positioner Mode
ME0342-4B 4-69
Note 1 The maximum pressing force [N] when the force sensor is used and the maximum
pressing current limit [%] should differ depending on models. Shown in the table
below is the values for each model.
Actuator
(Pulse Pressing)
Max. Pressing Force [N]
when the force sensor is used
Max. Pressing
Current Limit [%]
RCP6-RRA4R-LCT
300
60
RCP6-RRA6R-LCT
600
60
RCP6-RRA7R-LCT
Lead: 4
1,000
70
Lead: 2
2,000
70
Caution
● It is necessary to have the calibration done on the loadcell in order to perform the force
sensor used pressing in PIO Pattern 6. Refer to [4.2.8 Preparation for Operation with
Force Sensor Used Pressing (Loadcell Calibration)]
● The force sensor used pressing is applicable only for PCON-CBP/CGBP.
3) The control method is the same as that in [1] Positioning. However, the processing of
positioning complete signal PEND is different from that in [1] Positioning.
PEND is output when the shaft is stopped by pressing (pressing complete). If the work is not
subject to pressing (miss-pressing), the actuator moves by the value set in “Positioning
width” to stop but PEND is not turned ON. The current position No. PE* is turned ON at the
completion of pressing and even in miss-pressing.
PEND
(Controller→PLC)
Turned OFF by
turning PEND ON
Turned on even
in miss-pressing
Start signal
ST*
(PLC→Controller)
Current Position No.
PE*
(Controller
→
PLC)
Not turned ON
for miss-pressing
Pressing
operation
Operation of actuator
Approach operation
Positioning be
setting of coordinate
Value
Movement by
positioning
width
Positioning
operation
Stop of
pressing

IAI PCON-CB series Specifications

General

Brand	IAI
Model	PCON-CB series
Category	Controller
Language	English