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6-6. Push Motion
This function limits the torque of the motor and detects load status. If the load exceed the
specified torque ratio in the stop mode, the motor will stop.
(1) Function
①
Start Push Motion command
②
Normal position motion command is executed. (status : position mode)
③
Decelerate the speed from position motion to push motion. (push motion speed must
be lower than 200[rpm].)
④
Push motioning until the work detected with specified motor torque. (status : push
mode) The motioning will stop just after the work detected.
⑤
When Push mode is ‘Stop’:
After the work detected, the motor will stop but the motor torque will be maintained
and the ‘inposition’ / ‘PT Stoped’ / ’END’ signal is effective.
The maintained motor torque will be return to normal(Servo ON) status by ‘stop’
command. (status : release push mode and return to position mode)
When Push mode is ‘Non-stop’:
After the work detected, the motor will not stop and the motor torque will be
maintained and the ‘inposition’ and other signal is effective.
⑥
Additional the next step is needed as below diagram.
⑦
Time delay can be needed before returning to start position depends on mechanical
conditions.
⑧
Return to start position.
Position motion
speed
Work
Push motion
speed
Start position
Position 1
(1000 pulse)
(1)
(2)
(4)
(5)
(3)
Accel
Decel
Position 2
(1200 pulse)
