IAI America XSEL-QX - Manual (Page 282)

258
Part 4 Commands
z PTRQ (Change push torque limit parameter)
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 PTRQ
Axis
pattern
Ratio CC
[Function] Change the push torque limit parameter for the axis pattern specified in operand 1 (among
SCARA axes, this command can be specified only for the Z-axis) to the value specified in
operand 2. The ratio in operand 2 is set as an integer (unit: %).
"Driver-card parameter No. 38: Push torque limit at positioning" can be rewritten temporarily
using a PTRQ command.
(Note 1) If push torque limit is not set with a PTRQ command, the value set in "Driver-card
parameter No. 38: Push torque limit at positioning" will be used.
(Note 2) If the push torque limit is changed, the new setting will remain valid even after the program
ends. Therefore, to build a system using PTRQ commands, a push torque limit must be
expressly specified with a PTRQ command before operation of each program. An
assumption that the push torque limit will be reset to the original value when the operation
ends in other program may lead to an unexpected problem, because the push torque limit
will become different from what is anticipated in case the applicable program is aborted due
to error, etc.
(Note 3) The new value set with a PTRQ command will become invalid after a power-ON reset or
software reset.
(Note 4) The value set in "Driver-card parameter No. 38: Push torque limit at positioning" (in the
main CPU flash memory (nonvolatile memory)) will not be written by a PTRQ command.
[Example] PTRQ 100 50 Change the push torque limit parameter for the Z-axis to
50%.
PAPR 50 20 Set the push-motion approach distance to 50 mm and
push-motion approach speed to 20 mm/sec.
MOVP 10 Move to position No. 10.
PUSH 11 Move from position No. 10 to position No. 11 via push-
motion operation.