YASKAWA E-S Series Product Manual

Contents

7.3 Program Table Operation7.3.1 Types of Operation7-157 Operation and FunctionsPressing OperationFor pressing operation, target positions are specified as the target positions (POS) in the pro-gram table. The motor is moved to the current target position and then pressing operation isstarted from that position (POS). The motor moves to the current target position (POS) at thepositioning speed (SPD).From the pressing starting position, pressing operation is started at the pressing speed (PSPD).Pressing operation is performed at the pressing torque limit (PTLIMT) or less for the pressingtravel distance (INPOS). The /INPOSITION signal turns ON when pressing operation has beenperformed at the torque threshold (CLLV) or higher for the pressing operation pressing time(PnBE4).Set the pressing travel distance in INPOS.Pressing operation is illustrated conceptually in the following figure.Pressing operation may not always work well depending on mechanical factors, such as therelation between the pressing travel distance (INPOS) and the position of the pressed object.Examples of when pressing operation does not work well are provided below.Operation PatternSpeedSPDTimePositionMovement at SPDTravel distance (POS)Pressing traveldistance (INPOS)Positioning operation Pressing operationActual traveldistancePressing operationat PTLIMTPressingstarting positionMovement at PSPD