IAI RoboNet Operation Manual page 118

Push Mode Specification
• In the positioner 1, 2 mode, simple direct mode, solenoid valve mode 1 or 2, set a value other than "0" (push-current
limiting value) in the "Push" field of the position table.
• I In the direct numerical specification mode, set a value in the push-current limiting value area (bit 8) and set "1" (ON) in
the control signal PUSH (bit 12).
Push Speed
Set the push speed using parameter No. 34, "Push speed."
(Before shipment, this parameter has been set individually in accordance with the actuator characteristics.)
Maximum Distance Traveled in Push operation
• In the positioner 1, 2 mode, simple direct mode, solenoid valve mode 1 or 2, set in the "Positioning band" field of the
position table.
• In the direct numerical specification mode, set in the positioning band area.
(Consider the position error generated when the load was installed, and also consider the amount of deflection if the load
is made of elastic material).
Push Direction
• In the positioner 1, 2 mode, simple direct mode, solenoid valve mode 1 or 2, the sign in the "Positioning band" field of the
position table specifies the push direction.
• In the direct numerical specification mode, set "0" (OFF) or "1" (ON) in the control signal DIR (bit 13).
Push Completion Judgment
• Push completion judgment is based on the motor generated torque (push force) and push time.
• To set the push force, set a push-current limiting value (%) in the "Push" field of the position table. In the direct numerical
specification mode, set an applicable value in the push-current-limiting value register.
Determine an appropriate push force based on the characteristics (shape, material, etc.) of the load, and determine a
corresponding push-current-limiting value by referring to the correlation diagram of "push force and current-limiting value"
of the actuator.
• Set the push stop judgment time in parameter No. 6.
(The factory setting is "255" [msec].)
Continuous Push
• Once push operation is judged complete, the position complete signal will turn "1" (ON). However, the actuator will
continue to push the load until the next move command (command position number and positioning start signal) is
issued.
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Part 1 Specification