Presse universelle MecaMotion par

"Force regulator" instruction

"Force regulator" instruction

This instruction allows a constant force to be applied with the press for a defined time.

This force is measured with the external force sensor.

Use of the instruction

This instruction must be used when the press is in mechanical prestressing.

It can therefore be carried out after an "stop on force" instruction or after a positioning that brings the press to prestressing.

Standard parameters of the instruction:

Figure 1: Standard parameters of the force regulation instruction

The standard parameters of this instruction are as follows:

Parameter name	Declaration	Type of data	Default value	Description
Setpoint [N]	Input	REAL	1[N]	Force setpoint to be applied
Gain	Input	REAL	1	Proportional gain of the regulation function
Hold time [ms]		TIME	100[ms]	Holding time of the applied force
Load tolerance [N]	Input	REAL	0.5[N]	Tolerance +/- of the force setpoint in which the axis must be located at the end of the regulation so that there is no error
Control position [mm]	Input	LREAL	0[mm]	Position that the axis must have at the end of the regulation. If position = 0 no control
Control position tolerance [mm]	Input	LREAL	1[mm]	Tolerance +/- of the position in which the axis must be at the end of the regulation so that there is no error

Table 2: List of standard parameters of the instruction

If necessary, it is possible to refine the regulation settings using the expert parameters.

Figure 2: Expert parameters of the force regulation instruction

The expert parameters available for this instruction are as follows:

Parameter name	Declaration	Type of data	Default value	Description
Velocity limitation [mm/s]	Input	REAL	1[mm/s]	Maximum velocity that the axis can reach when it performs the regulation
Integral	Input	REAL	1[ms]	Integral of the regulation function
Derivative	Input	REAL	1[ms]	Derivative of the regulation function
Deadband [N]	Input	REAL	1[N]	Zone +/- of the force set point in which the axis regulation is stopped

Table 2: List of expert parameters of the instruction

Results of the instruction

When the instruction is completed, the position and force measured at the end of the holding time are returned. (In progress)

Errors in the instruction

The possible errors for the force regulation instruction are as follows: (Errors returned by Profinet)

•Error N°24: Position out of tolerance

•Error N°25: Force out of tolerance

Example of use:

In this example, we perform a positioning with a force stop to bring the press to prestressing, then we apply a force of 500N for 3.2s.

Figure 3: Use of the force regulation instruction