IAI America XSEL-QX - Manual (Page 259)

235
Part 4 Commands
z J W ( Jog)
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 J W
Axis
pattern
Input, output,
flag number
PE
[Function] The axes in the axis pattern specified in operand 1 will move forward or backward while the
input or output port or flag specified in operand 2 is ON or OFF.
JBWF Move backward while the specified port is OFF
JBWN Move backward while the specified port is ON
JFWF Move forward while the specified port is OFF
JFWN Move forward while the specified port is ON
Only one SCARA axis (X, Y, Z or R-axis) can be specified. If a SCARA axis is specified, the axis will move
according to the currently selected load coordinate system (CP operation). It is possible to specify multiple
linear movement axes.
(SCARA axes are supported in main application version 0.33 or later.)
(Note 1) If the main application is older than version 0.33, specifying a SCARA axis will generate an
“Error No. B80, Specification-prohibited axis error” or “Error No. 421, SCARA/linear movement
axis simultaneous specification error.”
(Note 2) This command is effective for a linear movement axis that has not yet completed home return. In
this case, however, the maximum speed will be limited by “All-axis parameter No. 15, Maximum
jog speed before confirmation of coordinates/home return.” Since coordinate values do not
mean anything before the completion of home return, pay due attention to preventing contact
with the stroke ends. SCARA axes can operate only when ABS coordinates are not yet
confirmed.
(Note 3) The jog speed of a SCARA axis is limited by “All-axis parameter No. 37, Maximum SCARA axis
speed under J
†W† command” (default: 250 mm/sec). Parameter editing is supported by PC
software of version 7.0.11.0 or later, teaching pendants (IA-T-X) of version 1.44 or later and
teaching pendants (SEL-T) of version 1.01 or later. (Parameter settings can be changed using
PC software and teaching pendants of older versions. However, the parameter names will not
be displayed and the set values will be displayed as hexadecimals.)
(Note 4) When the X, Y or R-axis is jogged, none of the axes can be operated, except for the Z-axis, from
other task.
(Note 5) If the operation of a SCARA axis is started near a straight point (singular point) of arm 1 or arm
2, the acceleration will be reduced to prevent rapid operation.
(Note 6) If the operation of a SCARA axis is started outside the movement range (outside the soft limits
of each axis, inside the CP operation limit band, inside the tool reference-point entry prohibition
circle (when tool offset is enabled) or inside the back entry prohibition area), select an
appropriate axis and direction and move the axis to inside the movement range. Jog operation
cannot be performed to outside the movement range.
(Note 7) If the R-axis generates an “Error No. C74, Actual-position soft limit over error” due to the posture
control component, etc., while a SCARA axis is jogging, take an appropriate action such as
jogging each axis system using the PC software or teaching pendant to bring the R-axis position
closer to the center of the R-axis stroke.
(Note 8) When tool offset is enabled for a SCARA axis (tool coordinate system selection number = other
than 0), jog operation of the R-axis is implemented as rotational operation of the tool tip,
meaning that arm 1 or 2 will operate. Exercise caution.