![background image](http://html.mh-extra.com/html/omron/scara-yrcx-series/scara-yrcx-series_programming-manual_1633413269.webp)
PUSH 8-177
88
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
94
PUSH
If the next command following to the PUSH statement is an executable command such as a
signal output command, the next command will start when the pushing conditions of an axis to
be moved are satisfied, or when an axis arrives within the tolerance range of the target position.
Example:
Signal output (DO, etc.)
Signal is output when the pushing conditions are satisfied or within the
tolerance range.
DELAY
DELAY command is executed and standby starts, when the pushing
conditions are satisfied or within the tolerance range.
HALT
Program stops and is reset when the axis enters the OUT position
range. Therefore, the axis movement also stops.
HALTALL
When the pushing conditions are satisfied or within the tolerance range,
the programs in execution are all stopped, task 1 is reset, and other
tasks are terminated. Therefore, the axis movement also stops.
HOLD
Program temporarily stops when the axis enters the OUT position
range. Therefore, the axis movement also stops.
HOLDALL
When the pushing conditions are satisfied or within the tolerance range,
the programs in execution are all temporarily stopped. Therefore, the
axis movement also stops.
WAIT
WAIT command is executed, when the pushing conditions are satisfied
or within the tolerance range.
SAMPLE
PUSH(1,P0) ···················· Axis 1 of robot 1 moves from its current position
to the position specified by P0.
Point data setting types
●
Direct numeric value input
The motor position is specified directly in <
expression
>.
If the motor position's numeric value is an integer, this is interpreted as a "pulse" unit. If the
motor position's numeric value is a real number, this is interpreted as a "mm/degrees" unit, and
each axis will move from the 0-pulse position to a pulse-converted position.
SAMPLE
PUSH(1,10000) ················· Axis 1 of robot 1 moves from its current position
to the 100000 pulse position.
PUSH[2](2,90.000) ············· Axis 2 of robot 2 moves from its current
position to the 90° position (when axis 2 is a
rotating axis.)
●
Point definition
Point data is specified in <
expression
>. The axis data specified by the <
axis number
> is used. If
the point expression is in "mm/degrees" units, movement for each axis occurs from the 0-pulse
position to the pulse-converted position.
SAMPLE
PUSH(1,P1) ···················· Axis 1 of robot 1 moves from its current position to
the position specified by P1.
PUSH[2](2,P90) ················ Axis 2 of robot 2 moves from its current position to
the position specified by P90 (deg.) (when axis 2 is
a rotating axis.)
Содержание SCARA YRCX Series
Страница 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
Страница 2: ......
Страница 20: ......
Страница 26: ......
Страница 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
Страница 28: ......
Страница 32: ......
Страница 52: ......
Страница 54: ......
Страница 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
Страница 62: ......
Страница 66: ......
Страница 76: ......
Страница 78: ......
Страница 92: ......
Страница 328: ......
Страница 408: ......
Страница 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
Страница 410: ......
Страница 432: ......
Страница 488: ......
Страница 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
Страница 490: ......
Страница 496: ......
Страница 497: ...Index ...
Страница 498: ......
Страница 504: ......
Страница 505: ......
Страница 506: ... DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH ...