IAI America ASEL - Manual (Page 181)

Part 2 Programs
Chapter 3 Explanation of Commands
159
Part 2 Programs
z PAPR (Set push-motion approach distance, speed)
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 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 2 Move to position No. 2.
PUSH 10 Move by push-motion from position No. 2 to position No. 10.
(Note) The push-motion approach speed in an OVRD command will be clamped by the minimum speed
of 1 mm/sec. (Correct push-motion operation is not guaranteed at the minimum speed.
Operation at slow push-motion approach must be checked on the actual machine by considering
the effects of mechanical characteristics, etc.)
Y-axis
Position origin
Push-motion approach distance
Target position
X-axis
Start position of push-motion approach operation
(torque-limiting operation)