PCON-C/CG Controller Positioner Type - pulsar.com.tr
PCON-C/CG Controller Positioner Type - pulsar.com.tr
PCON-C/CG Controller Positioner Type - pulsar.com.tr
Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
6 Turn on the servo<br />
Confirm that the slider or rod is not contacting a mechanical end.<br />
If the slider/rod is contacting a mechanical end, move it away from the mechanical end.<br />
If the actuator is equipped with a brake, turn on the brake forced-release switch to forcibly release the<br />
brake before moving the actuator.<br />
The load may suddenly drop when the brake is released, so exercise due caution not to pinch your hand<br />
or damage the robot hand by the falling load.<br />
Turn on the servo from the PC or teaching pendant.<br />
If the actuator enters a servo lock mode and the monitor LED [SV/ALM] on the front face of the con<strong>tr</strong>oller<br />
illuminates in green, the con<strong>tr</strong>oller is functioning properly.<br />
7 Check the operation of the safety circuit<br />
Confirm that the emergency stop circuit (or motor drive-power cutoff circuit) operates properly.<br />
→ Chapter 4, “Wiring”<br />
8 Set a target position<br />
Perform home return first, and then set a target position in the “Position” field for each position in the<br />
position table. Determine a desired position by finely adjusting the load or robot hand.<br />
* Once a target position is set, all other fields (speed, acceleration/deceleration, positioning band, etc.)<br />
will be automatically populated with their default values. → Chapter 6, “Position Table Settings”<br />
* To ensure safety, it is re<s<strong>tr</strong>ong>com</s<strong>tr</strong>ong>mended that the safety speed be enabled during initial movements.<br />
To move the actuator at the actual speed set in the “Speed” field of the position table, change the<br />
MANU operating mode to [Teaching mode: Disable safety speed/Inhibit PIOs].<br />
9 Trial operation and adjustment<br />
Set the mode selector switch on the front panel of the con<strong>tr</strong>oller to the “AUTO” side.<br />
Input a movement <s<strong>tr</strong>ong>com</s<strong>tr</strong>ong>mand from the PLC to perform positioning.<br />
If necessary, perform fine adjustments including the items specified below:<br />
• Vibration or noise may generate depending on the weight, material or shape of the load. If vibration or<br />
noise is observed, lower the speed, acceleration and/or deceleration.<br />
• To prevent contact with surrounding equipment or reduce the tact time, adjust the boundaries for each<br />
zone output signal and also adjust the positioning band.<br />
• Adjust the current-limiting value, judgment time and push speed to be used in push & hold operation.<br />
Caution: Before changing any parameter, set the mode selector switch to the “MANU” side. Or,<br />
keep the mode selector switch on the “AUTO” side and turn on the MODE input signal.<br />
6