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8-174 Chapter 8 Robot Language Lists
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PSHSPD
Specifies/acquires the push speed parameter
Format
1. PSHSPD [robot number] expression
2. PSHSPD [robot number] (axis number) =expression
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
axis number
...........................1 to 6
expression
..............................1 to 100 (units: %)
Explanation
Changes the "push speed" parameter of the axis specified by <
robot number
> to the
value indicated in <
expression
>.
The motion speed in the PUSH statement is as follows.
• Neither "S" nor "DS" is set as an option in the PUSH statement:
Maximum speed of a robot (mm/sec. or deg./sec.) x Push speed ratio (%)
x Automatic movement speed (%) x Program movement speed (%)
• "S" is set as an option in the PUSH statement:
Maximum speed of a robot (mm/sec. or deg./sec.) x Push speed ratio (%)
x Automatic movement speed (%) x Program movement speed specified by S (%)
• "DS" is set as an option in the PUSH statement:
Maximum speed of a robot (mm/sec. or deg./sec.) x Push speed ratio (%)
x Movement speed of an axis specified by DS (%)
* Refer to ("94 PUSH" in this Chapter/ the YRCX programming manual) for details
regarding the option settings of the PUSH statement.
SAMPLE
PSHSPD (1) = 50 ················· Changes the push speed parameter of
axis 1 of robot 1 to 50%.
Functions
Format
PSHSPD [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 "push speed" parameter value of the axis specified by <
axis number
>.
SAMPLE
A=PSHSPD (1) ···················· The push speed parameter of axis 1 of
robot 1 is assigned to variable A.
Содержание SCARA YRCX Series
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