IAI PSEL, Operation Manual

Page: 859 / 1062

[12]
Actuator Control Command
365
z
PTRQ (Change push torque limit parameter)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional PTRQ Axis pattern Ratio CC
Applicable models
XSEL-J/K
u
Other than XSEL-J/K
{
[Function] Change the push torque limit parameter of the axis pattern specified in operand 1
to the value in operand 2. Operand 2 is set as an integer (unit: %).
A PTRQ command temporarily rewrites “Driver parameter No. 38: Push torque
limit at positioning”.
(Note 1) If a push torque limit is not set by a PTRQ command, the value set in “Driver
parameter No. 38: Push torque limit at positioning” will be used.
(Note 2) The new push torque limit will remain effective even after the program ends.
Therefore, when building a system using the PTRQ command, in every program
explicitly specify a push torque limit using a PTRQ command before each
push-motion operation. Assuming that the push torque limit will be reset to the
original value when push-motion operation ends in one program can cause an
unexpected problem in another program, because a different push torque limit will
be used if the program is aborted due to an error, etc.
(Note 3) The new value set by a PTRQ command will become ineffective after a power ON
reset or software reset.
(Note 4) A PTRQ command does not rewrite “Driver parameter No. 38: Push torque limit at
positioning” (main CPU flash memory (non-volatile memory)).
[Example] PTRQ 1 50 Change the push torque limit parameter for axis 1 to
50%.
PAPR 100 20 Set the push-motion approach distance to 100mm
and the push-motion approach speed to 20mm/sec.
MOVP 2 Move to position No. 2.
PUSH 10 Move by push motion from position No. 2 to position
No. 10.