IAI X-SEL

225
INTELLIGENT ACTUATOR
Part 4 Commands
 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 of the axis pattern specified in operand 1 to the value
in operand 2. Operand 2 is set as an integer (unit: %).
A PTRQ command temporarily rewrites “Driver card parameter No. 38: Push torque limit at
positioning.”
(Note 1) If a push torque limit is not set by a PTRQ command, the value set in “Driver card parameter
No. 38: Push torque limit at positioning” will be used.
(Note 2) The new push torque limit will remain effective even after the program ends. Therefore, when
building a system using the PTRQ command, in every program explicitly specify a push
torque limit using a PTRQ command before each push-motion operation. Assuming that the
push torque limit will be reset to the original value when push-motion operation ends in one
program can cause an unexpected problem in another program, because a different push
torque limit will be used if the program is aborted due to an error, etc.
(Note 3) The new value set by a PTRQ command will become ineffective after a power-on reset or
software reset.
(Note 4) A PTRQ command does not rewrite “Driver card parameter No. 38: Push torque limit at
positioning” (main CPU flash memory (non-volatile memory)).
[Example] PTRQ 100 50 Change the push torque limit parameter for axis 3 to 50%.
PAPR 100 20 Set the push-motion approach distance to 100 mm and the
push-motion approach speed to 20 mm/sec.
MOVP 2 Move to position No. 2.
PUSH 10 Move by push motion from position No. 2 to position No. 10.