Iai-america XSEL-KE Manuel d'utilisateur télécharger pdf (Page 165)

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Part 4 Commands

z PAPR (Set push-motion approach distance, speed)

Command, declaration

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,

declaration

Operand 1 Operand 2

Output

(Output, flag)

Optional Optional PAPR Distance Speed CP

[Function] Set the operation to be performed when a PUSH command is executed.

Set the distance (push-motion approach distance) over which push-motion approach

operation (torque-limiting operation) will be performed in operand 1 (in mm), and set the

speed (push-motion approach speed) at which push-motion approach operation (torque-

limiting operation) will be performed in operand 2 (in mm/sec).

The push-motion approach distance specified in operand 1 may contain up to three decimal

places, while the speed specified in operand 2 cannot contain any decimal place.

[Example] PAPR 100 30 Set the push-motion approach distance in a PUSH

command to 100 mm and the push-motion approach speed

to 30 mm/sec.

MOVP 2

PUSH 10

Move to position No. 2.

Perform push-motion operation from position Nos. 2 to 10.

(Note) The push-motion approach speed in an OVRD command will be clamped by the minimum speed

of 1 mm/sec. (Correct push-motion operation is not guaranteed at the minimum speed.

Operation at slow push-motion approach must be checked on the actual machine by considering

the effects of mechanical characteristics, etc.)

Y-axis

Position origin

Push-motion approach distance

Target position

X-axis

Start position of push-motion approach operation

(torque-limiting operation)

1 2 ... 160 161 162 163 164 165 166 167 168 169 170 ... 423 424

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Iai-america XSEL-KE Manuel d'utilisateur Page 165

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