The Robo Cylinder can execute moves in the "PUSH" mode. In a "PUSH" move the actuator can move normally to a certain point and then push a certain distance at a specific force.

In the example above we have four taught positions. The first two positions are simple point-to-point moves. The next two are "PUSH" moves. There are few possible motions that can be executed. The "PUSH" moves behave a little differently depending on some factors.

Let us look at the case where position 0 then position 2 is executed. In that scenario the actuator will move to position zero. From there it would move to 50mm away from home. At that time, the motor will start rotating at 75 RPM for 20mm of travel. Being a push move, the Robo Cylinder is expecting to encounter a force. If it does encounter a force that it "pushes" against, the "POSITION COMPLETE" output will turn on and maintain 35% of maximum torque against the force until a different position is executed. If no force is encountered the actuator will keep pushing until 70mm, where it will stop and the "POSITION COMPLETE" output will remain off. Simply put, the actuator will move to 50mm and then push 20mm in the positive direction. The "POSITION COMPLETE" output depends on whether a force has been encountered or not.

Now, let us consider the case that position 1 is executed then position 2. In that scenario the actuator will move to position 1. From there it will start moving to the ending point (70mm). When it is 20mm away from the endpoint (90mm), the actuator will start pushing (or pulling depending on your point of view). During this motion the actuator is looking for a force. If it does encounter a force that it "pushes" against, the "POSITION COMPLETE" output will turn on and maintain 35% of maximum torque against the force until a different position is executed. If no force is encountered the actuator will keep pushing until 70mm, where it will stop and the "POSITION COMPLETE" output will remain off. Simply put, the actuator will move to 90mm and then push 20mm in the negative direction. The "POSITION COMPLETE" output depends on whether a force has been encountered or not.

In the third case let us look at the execution of position 0 then position 3. It is very much like the previous case except that it now flips orientation and moves to the motor end (home). First the actuator will move to the home position (0mm). The ending point will now be 30mm. After moving to position 0 (0mm) the actuator will then be sent a signal to move to position 3. It will start moving at 250mm/s until it reaches 10mm from there, the motor will start moving rotating at 75RPM's. At this speed the Robo Cylinder is now in the push mode. If it does encounter a force that it "pushes" against, the "POSITION COMPLETE" output will turn on and maintain 35% of maximum torque against the force until a different position is executed. If no force is encountered the actuator will keep pushing until 30mm, where it will stop and the "POSITION COMPLETE" output will remain off.

In the fourth case let us look at the execution of position 1 then position 3. As in the previous case the ending point of these movements will be 30mm away from home. In this particular case we first move to position 1 (100mm away from home), then execute position 3. The motion of position 3 will be to move to 50mm away from home then slow down to 75RPM's and start the "PUSH" move until it reaches 30mm. The "POSITION COMPLETE" output depends on whether a force has been encountered or not.

To summarize, the "PUSH" move is looking to exert a force. The "POSITION COMPLETE" output will turn on if a torque (force) is applied. The endpoint of the movement will be the sum of the "Position" column and the "Pos.band" column. The "PUSH" move start at a distance defined by the "Pos.band" column from the endpoint.

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