IAI RoboNet Operation Manual page 119

[2] When the load was missed in push operation
If the load is not contacted (the motor current does not reach the push-current limiting value) after the actuator has
moved the distance corresponding to the specified positioning band, the position complete signal is not output.
However, the completed position number is output.
In this case, status signal bit 5, or the PSFL, turns "1" (ON).
Speed
Travel distance
[3] When the load moves after contact
The load moves in the push direction
If the load moves in the push direction after completion of push operation, the actuator will continue to chase the load
within the positioning band.
If the current becomes smaller than the push-current limiting value during this movement, the position complete
signal will turn "0" (OFF). When the current-limiting value is reached again, the signal will turn "1" (ON).
Speed
Position at which push operation
was initially judged complete
Travel distance
■ When the load moves in the direction opposite push direction
(The load is pushed back because the reactive force of the load is too strong.)
If the reactive force of the load exceeds the push force and the load is pushed back after completion of push
operation, the actuator will be pushed back continuously until the push force balances with the reactive force of the
load.
The position complete signal remains "1" (ON).
If the actuator is pushed back to the target position, an alarm will generate.
Speed
Travel distance
The position complete signal does not turn
ON if the load was not contacted.
Positioning band (maximum distance traveled in push operation)
Target position
Positioning band (maximum distance traveled in push operation)
Target position
Position at which push operation
was initially judged complete
Positioning band (maximum distance traveled in push operation)
Target position
If the load deviates backward, the actuator chases
the load within the positioning band.
Part 1 Specification
99