IAI America XSEL-KX - Manual (Page 160)

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Part 4 Commands
 PAPR (Set push-motion approach distance, speed)
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command, declaration
Output
(Output, flag)
Command,
declaration
Operand 1 Operand 2
Optional Optional PAPR Distance Speed CP
[Function] Set the operation to be performed when a PUSH command is executed.
Set the distance (push-motion approach distance) over which push-motion approach
operation (torque-limiting operation) will be performed in operand 1 (in mm), and set the
speed (push-motion approach speed) at which push-motion approach operation (torque-
limiting operation) will be performed in operand 2 (in mm/sec).
The push-motion approach distance specified in operand 1 may contain up to three decimal
places, while the speed specified in operand 2 cannot contain any decimal place.
[Example] PAPR 100 30 Set the push-motion approach distance in a PUSH
command to 100 mm and the push-motion approach speed
to 30 mm/sec.
MOVP 10
PUSH 11
(Note) When an OVRD command is used, the push-motion approach speed is clamped at the lower-
limit speed of 1 mm/sec.
(The lower-limit speed is not meant to guarantee reliable push-motion operation. When push-
motion approach is to be performed at low speed, confirm the operation on the actual
machine by considering the effects of mechanical characteristics, etc.)
Position origin
Push-motion approach distance
Start position of push-motion
approach operation
(torque-limiting operation)
Z
Y
X