IAI America XSEL-QX - Manual (Page 263)

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Part 4 Commands
z PUSH (Move by push motion in CP operation)
Command, declaration
Extension condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
Optional Optional PUSH
Target
position
number
Prohibited PE
[Function] Perform push-motion operation until the target position specified in operand 1 is reached.
The axes move in a normal mode from the position origin to the push-motion approach start
position as determined by a PAPR command, after which push-motion approach operation
(toque-limiting operation) will be performed. The speed of push-motion approach operation
(toque-limiting operation) is determined by the push-motion approach speed specified by a
PAPR command. If the output field is specified, the output will turn ON when a contact is
confirmed, and turn OFF when a missed contact is detected.
The speed and acceleration of movement from the position origin to the push-motion
approach start position will conform to the values specified by a VEL, ACC or DCL
command or position data.
The push force can be adjusted using “Driver-card parameter No. 38, Push torque limit at
positioning” (default value: 70%).
(Note 1) Among SCARA axes, a PUSH command only moves the Z-axis. If multiple axes are
specified, an “Error No. C91, Multiple push-axes specification error” will generate.
(Note 2) A push-motion approach speed exceeding the maximum speed permitted by the system
will be clamped at the maximum speed. (The maximum system speed is not the maximum
practical speed. Determine a practical speed by considering the impact upon contact, etc.)
Position origin
Push-motion approach distance
Target position
Start position of push-motion approach operation
(torque-limiting operation)
Z
X
Y