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8-170 Chapter 8 Robot Language Lists
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PSHFRC
Specifies/acquires the pushing force parameter
Format
1. PSHFRC [robot number] expression
2. PSHFRC [robot number] (axis number) =expression
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
axis number
...........................1 to 6
expression
..............................-1000 to 1000 (unit: %)
Explanation
Changes the "push force" parameter of the specified axis to the value of <
expression
>.
If the "F" option is omitted in the PUSH statement, the pushing control is executed
with the setting of the pushing thrust parameter.
Actual pushing thrust is as follows.
• Rated thrust x <
expression
> / 100
In format 1, the change occurs at all axes.
In format 2, the change occurs at parameter of the axis specified by the <
axis
number
>.
SAMPLE
PSHFRC (1) = 10 ················· Changes the pushing thrust parameter
of axis 1 of robot 1 to 10%.
Functions
Format
PSHFRC [robot number] (axis number)
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
axis number
...........................1 to 6
Explanation
Acquires the value of "push force" parameter of the specified axis.
SAMPLE
A=PSHFRC (1) ···················· The pushing thrust parameter of axis 1
of robot 1 is assigned to variable A.
Содержание SCARA YRCX Series
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