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PSHJGSP 8-171
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PSHJGSP
Specifies/acquires the push judge speed parameter
Format
1. PSHJGSP [robot number] expression
2. PSHJGSP [robot number] (axis number) =expression
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
axis number
...........................1 to 6
expression
..............................0: Invalid, 1 to 100 (units: %)
Explanation
Changes the "push judge speed" parameter of the specified axis to the value of the
<
expression
>.
If the push judge speed parameter is enabled, a pushing operation is detected only
when the movement speed is below <
expression
> with the pushing thrust in the
PUSH statement at the specified value.
The setting of <
expression
> can be specified as follows.
0: A pushing operation is detected if the pushing thrust reaches the specified value
with the threshold setting invalid.
1 to 100: The movement speed in the PUSH statement is 100% to specify thresholds
with a rate.
SAMPLE
PSHJGSP (1) = 50 ················ Changes the push judge speed parameter
of axis 1 of robot 1 to 50%.
Functions
Format
PSHJGSP [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 judge speed" parameter of the axis specified by <
axis
number
>.
SAMPLE
A=PSHJGSP (1) ··················· The pushing detection speed threshold
parameter of axis 1 of robot 1 is
assigned to variable A.
Содержание SCARA YRCX Series
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