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8-178 Chapter 8 Robot Language Lists
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PUSH
Option types
●
Pushing thrust setting
Format
F =expression
Values
expression
..............................-1000 to 1000 (units: %)
Explanation
The pushing thrust in the forwarding direction of an axis is specified as an
<
expression
>.
The actual pushing thrust is determined as shown below.
• Rated thrust x <
expression
>/100
If <
expression
> is omitted, pushing thrust value specified with the parameter is
used.
SAMPLE
PUSH(1,10000),F=10 ············ Axis 1 of robot 1 moves from its
current position to the 100000 pulse
position with the pushing thrust at
10% of the rated thrust.
●
Pushing time setting
Format
TIM =expression
Values
expression
..............................1 to 32767 (units: ms)
Explanation
The time to keep pushing with the specified pushing thrust is specified as an
<
expression
>.
When the status where the pushing thrust reaches the specified value exceeds
<
expression
>, the PUSH statement terminates.
If this option is omitted, the setting of the parameter is used.
SAMPLE
PUSH(1,10000),TIM=5000 ·········· Axis 1 of robot 1 moves from its
current position to the 100000 pulse
position with keeping pushing for 5
seconds.
Содержание SCARA YRCX Series
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