IAI PSEL, Operation Manual

Page: 988 / 1062

[26] RC gateway function commands
494
z
RPUS (Move RC-axis via push motion)
*1 439 RC Position Data Use Method Error when
a command was executed
XSEL
{
Can be used
RC position-data
use mode
RC
u
Cannot be used
*1
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
operation type
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional RPUS
RC-axis
number
Position
number
PE
Applicable models
XSEL
-J/K
XSEL
-P/Q/
PCT/QCT
XSEL
-R/S
XSEL
-JX/KX
XSEL
-PX/QX
XSEL
-RX/SX/
RXD/SXD
ASEL
PSEL
SSEL
TT/TTA MSEL
u
{ {
u
{ {
u u u
[Function] The axis moves to the target position corresponding to the position number in
operand 2, and then push the load over the in-position width specified by the
position data.
The push force is set by the current-limiting value for push-motion operation
among the position data.
The output turns ON when a push action is confirmed, and turns OFF if a miss is
detected.
[Operand 1 setting type]
Operand 1 Specification of execution axis Output specification
0 to 15
The axis corresponding to the
specified RC-axis number moves via
push motion.
The output turns ON when pushing of
the command axis is confirmed.
-1
Each RC-axis specified by an RAXS
command moves via push motion. The output turns ON when pushing of all
command axes is confirmed.
-2
Each RC-axis specified by an RAXS
command moves via push motion.
The output turns ON when pushing of
any one of all command axes is
confirmed.
* Specifying -1 is valid with XSEL_P/Q/PCT/QCT Ver.0.87 or later and XSEL_PX/QX
Ver.0.42 or later.
Caution:
z
If a positive sign is appended to positioning width data, the load is pushed in the
direction of increasing coordinates from the start point of the RPUS command
toward the target position.
z
If a negative sign is appended, the load is pushed in the direction of decreasing
coordinates. (The operation is different from when a PUSH command is used.)
[Example] PRUS 3 10 Move RC-axis 3 to the position corresponding to
position No. 10 and cause it to push the load.
Start point End point if missed
Target position under position No. 10
Positioning width at position 10 (maximum push amount)