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PSHRSLT 8-173
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PSHRSLT
Acquires the status when PUSH statement ends
Format
PSHRSLT [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 end status of PUSH statement executed for the axis specified by <
axis
number
>.
0
........... The PUSH statement was ended for a reason other than the arrival of the
pushing time.
1
...........The PUSH statement was ended by the arrival of the pushing time.
SAMPLE
PUSH(3,P1) ····················· Moves the axis 3 of robot 1 is under
the pushing control to the position
specified with P1.
IF PSHRSLT(3) = 1 THEN ·········· Ended by the arrival of the pushing
time.
GOTO *OK
ELSE ····················· Ended for a reason other than the
arrival of the pushing time.
GOTO *NG
ENDIF
Содержание SCARA YRCX Series
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