Iai-america ERC2 Bedienungsanleitung

Operation ManualERC2Actuator with IntegratedController (PIO Type)Fifth Edition

Movement to each position (ST0 to ST2)... 51Pause (*STP) ...

865. Data Entry <Basic>77(2) Work part was not contacted (missed) The position complete signal will not turn ON if the actuator does not yet co

875. Data Entry <Basic>78(4) Positioning band was entered with a wrong sign If the value in the “Positioning band” field of the position table

885. Data Entry <Basic>795.2.5 Pause The actuator can be paused during movement using an external input signal (*pause). The pause signal uses

895. Data Entry <Basic>805.2.7 Home Return After the power is turned on, home return must be executed to establish the home. Upon occurrence of

905. Data Entry <Basic>815.3 Power-saving Modes at Standby Positions One general feature of pulse motors is that their holding current in stand

915. Data Entry <Basic>82 Full servo control mode The pulse motor is servo-controlled to reduce the holding current. Although the exact degree

925. Data Entry <Basic>83Setting method: Set one of the following values in the “Standstill mode” field of the position table: x Set “1”: T be

936. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation>846. Operation in the “3 Points (Air Cylinder)” Mode <Practical Op

946. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation>85The relationships of movement command inputs/position complete outpu

956. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation>866.2 How to Start (1) Confirm that the connector end (CN1) of the e

5.2.6 Zone Signal Output... 885.2.7

966. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation>87If the actuator does not perform home return, confirm that the *paus

976. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation>886.3 Position Table and Parameter Settings Required for Operation 6.

986. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation>896.3.2 Full-scale Operation We provide energy-saving modes to reduce

996. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation>906.4 Moving Operation First, make the controller ready to accept mov

1006. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation>91[Operation timings] Caution: [1] Movement commands are executed b

1016. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation>92z The movement command input operates in two modes. You can sele

1026. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation>93z Handling of the pause (*STP) signal This signal is a Contact B s

1037. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>947. Operation in the “8 Points” and “16 Points” Modes <Practic

1047. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>95If the actuator does not perform home return, confirm that the *p

1057. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>967.2 Position Table and Parameter Settings Required for Operation

Default direction of excited-phase signal detection ... 134Excited-phase signal detection ti

1067. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>977.2.2 Full-scale Operation We provide energy-saving modes to red

1077. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>987.3 How to Execute Home Return First, force the position complet

1087. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>997.3.2 16 Points Input a start signal after selecting and inputti

1097. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>1007.4 Home Return and Movement after Start (16 Points) First, set

1107. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>101The position complete output will turn ON when the controller be

1117. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>1027.5 Positioning Mode (Back and Forth Movement between Two Point

1127. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>103Position-data table (Field(s) within thick line must be entered.

1137. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>1047.6 Push & Hold Mode First, cause the position complete sig

1147. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>105Position-data table (Field(s) within thick line must be entered.

1157. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>106If the actuator has missed the work part, the position complete

... ... ... ... ... ... ... 16311.1.3 ERC2-RA6

1167. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>1077.7 Speed Change during Movement Example of use in operation)

1177. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>108Position-data table (Field(s) within thick line must be entered.

1187. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>1097.8 Operation at Different Acceleration and Deceleration Settin

1197. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>110T1Command position StartPosition complete Actuator movement Posi

1207. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>1117.9 Pause Example of use in operation) The actuator is paused

1217. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>112Command position StartPosition complete PauseActuator movement T

1227. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>1137.10 Zone Signal How the boundaries are set varies depending on

1237. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>114Command position StartPosition complete Zone Actuator movement T

1247. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>1157.11 Incremental Moves Example of use in operation) Move the a

1257. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>116Position-data table (Field(s) within thick line must be entered.

Pre-2Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure Art

1267. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>1177.11.1 How to Determine the Final Position The PLC manages the

1277. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>118Command position StartPosition complete Actuator movement Positi

1287. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>119Command position StartPosition completeActuator movement Positio

1297. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>120Command position StartPosition complete Actuator movement Positi

1308. Parameter Settings1218. Parameter Settings 8.1 Parameter Table Parameters are classified into four types according to their content. Category:

1318. Parameter Settings1228.2 Detailed Explanation of Parameters If a parameter has been changed, always restart the controller using a software res

1328. Parameter Settings123z Home return offset The controller is shipped from the factory with an optimal value set in parameter No. 22, so the dist

1338. Parameter Settings1248.2.2 Parameters Relating to the Actuator Operating Characteristics z Default speed The factory setting is the rated spee

1348. Parameter Settings125z Default direction of excited-phase signal detection When the servo is turned on for the first time after a power on, exc

1358. Parameter Settings126z Automatic servo-off delay time This parameter defines the delay time after the positioning is completed until the servo

1Pre-2Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure Ar

1368. Parameter Settings127z Push speed This parameter defines the push speed to be applied after the actuator reaches the target position in push &a

1378. Parameter Settings1288.2.3 Parameters Relating to the External Interface z PIO pattern selection Select a desired PIO operation pattern using

1388. Parameter Settings129[Level mode] (Note) Turn OFF the movement command input after confirming that the target position has been reached. [Edge

1398. Parameter Settings130z Output mode of position complete signal This parameter defines the status of position complete signal to be applied if t

1408. Parameter Settings131z Silent interval multiplication factor This parameter is not used for this controller. It is applied to controllers of RS

1418. Parameter Settings1328.2.4 Servo Gain Adjustment Before the shipment, the servo has been adjusted in accordance with the standard specification

1428. Parameter Settings133z Speed loop integral gain Parameter No. Unit Input range Default 32 --- 1 ~ 217270 Set individually in accordance wit

1439. Troubleshooting1349. Troubleshooting 9.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take appropriate action a

1449. Troubleshooting1359.2 Alarm Level Classification Alarms are classified into two levels according to the symptoms they represent. Alarm level L

1459. Troubleshooting1369.3 Alarm Description and Cause/Action (1) Operation-cancellation level alarms Code Error name Cause/Action A1 Parameter

2No.Operation Description Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment su

1469. Troubleshooting137Code Error name Cause/Action C9 Excessive motor supply voltage This alarm indicates that the motor supply voltage is excess

1479. Troubleshooting138(2) Cold-start level alarms Code Error name Cause/Action B8 Excitation detection error This controller detects excited ph

1489. Troubleshooting139Code Error name Cause/Action F5 Verification error of data written to nonvolatile memory When data was written to the non

1499. Troubleshooting1409.4 Messages Displayed during Operation Using the Teaching Pendant This section explains the warning messages that may be dis

1509. Troubleshooting141Code Error name Cause/Action 20C CSTR-ON during operation This message indicates that the start signal (CSTR) was turned O

1519. Troubleshooting1429.5 Specific Problems z I/O signals cannot be exchanged with the PLC. Cause: [1] The 24-V I/O power supply is connected in

1529. Troubleshooting143z Noise occurs during downward movements in a vertical application. Cause: The load exceeds the rating. Action: [1] Decrea

15310. Maintenance and Inspection14410. Maintenance and Inspection 10.1 Inspection Items and Schedule Perform maintenance and inspection per the sch

15410. Maintenance and Inspection14510.4 Internal Check (Slider Type) [1] With the SA6C and SA7C, the screw cover and side covers can be removed usin

15510. Maintenance and Inspection14610.5 Internal Cleaning (Slider Type) x Wipe off dirt using a soft cloth, etc. x Do not blow compressed air at h

3Pre-3Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to Notice

15610. Maintenance and Inspection147(2) Greasing method Grease the guide by following the procedure below: [1] Apply grease between the slider and ba

15710. Maintenance and Inspection14810.7 Greasing the Ball Screw (Slider Type) (1) Applicable grease The following special grease is applied to the

15810. Maintenance and Inspection14910.8 Greasing the Rod Slide Surface (1) Applicable grease The following grease is applied to the rod slide surfa

15910. Maintenance and Inspection15010.9 Motor Replacement Procedure Before replacing the motor, save the latest parameter and position data. Save th

16010. Maintenance and Inspection151x Installation [1] Place the coupling spacer in the coupling hub. [2] Insert the motor unit into the rear brack

16111. AppendixAppendix11.　Appendix11.1 External Dimensions11.1.1 ERC2-SA6C50.92.549.12.337.52513.5118.580.630A50 B 50605 50 5993232S.E.M.E.L10Stroke

16211. Appendix152Appendix* Appendix Example of Basic ERC2 Positioning Sequence Given below is an example of basic sequence for creating a positioning

16311. Appendix152Appendix* Appendix Example of Basic ERC2 Positioning Sequence Given below is an example of basic sequence for creating a positioning

16411. Appendix152Appendix* Appendix Example of Basic ERC2 Positioning Sequence Given below is an example of basic sequence for creating a positioning

16511. Appendix152Appendix* Appendix Example of Basic ERC2 Positioning Sequence Given below is an example of basic sequence for creating a positioning

4Pre-4Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note 1

16611. Appendix152Appendix* Appendix Example of Basic ERC2 Positioning Sequence Given below is an example of basic sequence for creating a positioning

16711. AppendixAppendix11.2　Example of Basic ERC2 Positioning SequenceGiven below is an example of basic sequence for creating a positioning sequence

16811. Appendix153AppendixNMNM P OO PEND Q PP PEND QJ O O J RSRSMNOPQRSPositioning start pulse to position 2 Auxiliary positioning start for pos

16911. Appendix154AppendixRSJOPC1PC2PC4CSTRPosition 3 set signal Position 5 set signal Command position 1 Command position 2 Position 6 set signal Pos

17011. AppendixAppendixStandstillmodeCommandmodeIncrementalRecorded date:Acceleration/decelerationmodeZone–[mm]Zone+[mm]Positioningband[mm]Threshold[%

17111. AppendixAppendix11.4　Parameter RecordsRecorded date:Category: a: Parameter relating to the actuator stroke rangeb: Parameter relating to the ac

172Change History157Change HistoryRevision Date Description of RevisionThird editionAdded “Before Use.”Changed “Safety Precautions” to “Safety Guide.”

Manual No.: ME0158-5A (March 2012)The information contained in this document is subject to change without notice for purposes ofproduct improvement.Co

5Pre-5No. Task Note (2) Wiring the cables z Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc.z Do n

6Pre-6No. Task Note 5 Teaching z When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to it

7Pre-7Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and “No

8Pre-8Caution in Handling 1. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. If the actuator is op

91. Overview11. Overview 1.1 Introduction Thank you for purchasing the Easy All-in-One ROBO Cylinder (hereinafter referred to as “ERC2”). This manua

101. Overview2(5&6$&,3013610<Series name> <Type> Slider type x SA6C x SA7C Rod type x RA6C x RA7C x RGS6C x R

111. Overview31.3 Specifications (Note 1) The figures in blank bands indicate the maximum speeds for respective strokes. The maximum speeds during v

121. Overview41.3.1 Correlation Diagrams of Speed and Payload Capacity – Slider Type (Note) In the above graphs, the number after each type name ind

131. Overview51.3.2 Correlation Diagrams of Speed and Payload Capacity – Rod Type (Note) In the above graphs, the number after each type name indica

141. Overview6Load Applied to the Actuator (1) Slider type x Keep the load applied to the slider below the value stated in the applicable specificat

151. Overview71.4 Warranty Period and Scope of Warranty The ERC2 you have purchased passed IAI’s shipping inspection implemented under the strictest

Please Read Before UseThank you for purchasing our product.This Operation Manual explains the handling methods, structure and maintenance of this prod

161. Overview71.4 Warranty Period and Scope of Warranty The ERC2 you have purchased passed IAI’s shipping inspection implemented under the strictest

171. Overview81.5 Transportation and Handling 1.5.1 Handling before Unpacking Exercise due caution when transporting or handling the box containing

181. Overview91.6 Installation Environment and Noise Elimination Pay due attention to the installation environment of the controller. 1.6.1 Installa

191. Overview101.6.3 Power Supply The control/motor-drive power supply specification is 24 VDC r 10% (2 A max). 1.6.4 Noise Elimination This section

201. Overview11(2) Noise sources and elimination Among the numerous noise sources, solenoid valves, magnet switches and relays are of particular conc

211. Overview121.7 Cabling x The standard extension cables have excellent flexibility to withstand fatigue from flexural loads, but they are not rob

221. Overview13Prohibitions/Notes on Handling Cables When designing an application system using this actuator, incorrect wiring or connection of each

231. Overview14Cable Cable track z Always use a robot cable for each relay cable. Bending radius (r)z Use a cable track with a bending radius (r) of

242. Installation152. Installation 2.1 Name of Each Part 2.1.1 Slider Type (SA6C/SA7C) 2.1.2 Rod Type (RA6C/RA7C) Connection port for teaching pen

252. Installation162.1.3 (1) Rod Type with a Single Guide (RGS6C/RGS7C) (2) Rod Type with Double Guides (RGD6C/RGD7C) Connection port for teaching pe

CAUTION1. Using Multiple 24-V Power Supplies If multiple 24-V power supplies are used, always connect the 0-V lines of all power supplies. If not, da

262. Installation172.2 Installation 2.2.1 Slider Type z Installing the actuator The actuator-mounting surface must be a machined surface or have an

272. Installation182.2.2 Rod Type A rod-type actuator can be installed in the following two ways: z Affixing with a flange Install the actuator by t

282. Installation19z Affixing with foot brackets (optional) If optional foot brackets are used, install the foot brackets using hex cap bolts. Foot-b

292. Installation202.2.3 Installing the Load z Slider Type Four tapped holes are provided in the slider, so affix the load using these holes (indica

302. Installation21z Rod Type A bolt is attached on the rod end bracket, so use this bolt to affix the load. (Use the supplied nut, if necessary.) Ro

313. Wiring223. Wiring 3.1 Basic Structure PC software RS232C type <RCM-101-MW> USB type <RCM-101-USB> OptionalTeaching pendant <RCM-

323. Wiring23z Connection diagram [1] When the control board is of the NPN specification [sink type] * In the case of a robot cable, the wire color

333. Wiring24[2] When the control board is of the PNP specification [source type] * In the case of a robot cable, the wire colors change as follows.

343. Wiring253.2 Configuration Using a SIO Converter If any of the following conditions applies, use a SIO converter to connect the teaching pendant

353. Wiring26MEMG2EMG124V0VFGTB260 mA MAXABOrange (Red 1) Orange (Black 1) 1A SGA 1B SGB Yellow (Red 1) Yellow (Black 1) Pink (Red 1) Pink (Black 1)

CAUTION2. Basic Parameter SettingsWhen the power is turned on for the first time, at least the two parameters explained below must be set in accordan

363. Wiring27[2] When the control board is of the PNP specification [source type] * In the case of a robot cable, the wire colors change as follows.

373. Wiring283.2.1 Example of Connecting Multiple Axes Using Link Cables (Note 1) If the total length of the communication cable is 10 m or longer a

383. Wiring293.2.2 Address Assignment If multiple axes are connected, a slave number must be assigned to each axis so that the host can recognize the

393. Wiring303.3 Configuration Using an Isolated PIO Terminal Block If either of the following conditions applies, use an isolated PIO terminal block

403. Wiring31z Connection diagram [1] When the control board is of the NPN specification [sink type] [1] Insulate the power supply [2] The I/O logic

413. Wiring32[2] When the control board is of the PNP specification [source type] [1] Insulate the power supply [2] The I/O logic of the PLC is PNP I

423. Wiring33PC software RS232C type <RCM-101-MW> OptionalTeaching pendant <RCM-T> OptionalCable length: 5 m Host system <PLC>Connec

433. Wiring34z Connection diagram [1] When the control board is of the NPN specification [sink type] [1] Insulate the power supply [2] Change to PNP

443. Wiring35[2] When the control board is of the PNP specification [source type] [1] Insulate the power supply [2] Change to NPN Input common 0 V

453. Wiring363.4.1 Example of Connecting Multiple Axes Using Link Cables (Note 1) Only on the last axis set the terminal-resistor connection switch

CAUTION3. PC Software and Teaching Pendant Models This product offers new functions not available in the conventional ERC series. To support these ne

463. Wiring373.4.2 Address Assignment If multiple axes are connected, a slave number must be assigned to each axis so that the host can recognize the

473. Wiring383.5 Specifications of I/O Signals 3.5.1 Recognition of Input Signals The input signals from this controller have an input time constant

483. Wiring393.5.2 External Input Specifications Item Specification Number of input points 6 points Input voltage 24 VDC r 10% Input current 4 mA/

493. Wiring403.5.3 External Output Specifications Item Specification Number of output points 4 points Rated load voltage 24 VDC Maximum current 6

503. Wiring413.6 I/O Signals for PIO Pattern 1 [3 Points] (Air Cylinder) The following description assumes that the actuator is used in place of an a

513. Wiring423.6.2 Details of Input Signals  Movement to each position (ST0 to ST2) When the OFF o ON rise edge of each movement signal is detected

523. Wiring433.6.3 Details of Output Signals  Completion of each position (PE0 to PE2) These signals indicate that the target position correspondin

533. Wiring443.7 I/O Signals for PIO Pattern 0 [8 Points] Caution The factory setting is “8 points.” The pause signal can be disabled in parameter N

543. Wiring453.7.2 Details of Input Signals  Start (CSTR) When the OFF o ON rise edge of this signal is detected, the controller will read the targ

553. Wiring463.7.3 Details of Output Signals  Position complete (PEND) This signal indicates that the target position was reached and positioning h

CAUTION5. Plugging/Unplugging ERC2PIO Teaching Tools [1] When plugging or unplugging a teaching tool (PC software/teaching pendant) connector, mak

563. Wiring47(Reference) Output Signal Changes in Each Mode Mode classification PEND HEND Actuator is stopped with the servo ON after the power was

573. Wiring483.8 I/O Signals for PIO Pattern 2 [16 Points] (Setting by Zone Boundary Parameters)Caution The factory setting is “8 points,” so set pa

583. Wiring493.8.2 Details of Input Signals  Start (CSTR) When the OFF o ON rise edge of this signal is detected, the controller will read the targ

593. Wiring503.8.3 Details of Output Signals  Position complete (PEND) This signal indicates that the target position was reached and positioning h

603. Wiring51(Reference) Output Signal Changes in Each Mode Mode classification PEND HEND Actuator is stopped with the servo ON after the power was

613. Wiring523.9 I/O Signals for PIO Pattern 3 [16 Points] (Setting in Zone Fields in the Position Table) Note The factory setting is “8 points,” so

623. Wiring533.9.2 Details of Input Signals  Start (CSTR) When the OFF o ON rise edge of this signal is detected, the controller will read the targ

633. Wiring543.9.3 Details of Output Signals  Position complete (PEND) This signal indicates that the target position was reached and positioning h

643. Wiring55(Reference) Output Signal Changes in Each Mode Mode classification PEND HEND Actuator is stopped with the servo ON after the power was

653. Wiring563.10 Emergency-Stop Circuit Examples of internal circuit and recommended circuit are shown below. Caution For auxiliary relays, use rel

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

663. Wiring57z Example of multi-axes circuit allowing each axis to be connected/disconnected to the teaching pendant Relay External EMG reset switch

673. Wiring583.11 Extension Cable z No connector on the counter-actuator end (When connecting the actuator directly to a host system) Wire color Si

683. Wiring59z Connectors on both ends (When using an isolated PIO terminal block) 1098765432110987654321A B AMP 0-2100B A1987654321501A1B2A2B3A3B4A

694. Electrical Specifications604. Electrical Specifications 4.1 Controller Specification item Description Number of controlled axes 1 axis/unit S

704. Electrical Specifications614.2 SIO Converter (Optional) Model number: RCB-TU-SIO-A (Vertical installation) RCB-TU-SIO-B (Horizontal installat

714. Electrical Specifications62[5] PORT switch A switch for enabling/disabling the teaching pendant. Set the switch to ON when a teaching pendant is

724. Electrical Specifications634.3 Isolated PIO Terminal Block (Optional) Model number: RCB-TU-PIO-A (Combined with a NPN control board: Vertical i

734. Electrical Specifications64[1] Power/emergency-stop terminal block (TB1) Provide a contact output for the emergency-stop switch on the teaching

744. Electrical Specifications65[6] PIO connection terminal block (TB3) A PLC connection port. Detailed signal specifications are shown below. [1] R

754. Electrical Specifications66z Internal connection diagram [1] RCB-TU-PIO-A/B ConnectorNonpolar input photocoupler 6 circuits Fusing chip resisto

Table of Contents Safety Guide...

764. Electrical Specifications67[2] PCB-TU-PIO-AP/BP ConnectorNonpolar input photocoupler 6 circuits Fusing chip resistor 4 circuits 6 circuits 4 cir

774. Electrical Specifications68z I/O interface specifications Input Specifications Specification item Description Number of input points 6 points

785. Data Entry <Basic>695. Data Entry <Basic> To move the actuator to a specified position, you must enter the target position in the “P

795. Data Entry <Basic>70(4) Acceleration/Deceleration x Enter the acceleration/deceleration at which the actuator will be moved, in [G].Basic

805. Data Entry <Basic>71“Push & hold operation” The set value defines the maximum distance the actuator will push the work part in the push

815. Data Entry <Basic>72(9) Acceleration/deceleration modex This field is not used for this controller. The factory setting is “0.” (10) Inc

825. Data Entry <Basic>M E M O73

835. Data Entry <Basic>745.1.1 Relationship of Push Force at Standstill and Current-Limiting Value When performing operation in the push &

845. Data Entry <Basic>75z Rod type (1) RA6C type (2) RA7C type Low-speed type Low-speed type (Lead: 3 mm) (Lead: 4 mm) Medium-speed type

855. Data Entry <Basic>765.2 Explanation of Functions 5.2.1 Positioning Mode Push = 0The actuator moves to the target position set in the “Po