IAI America XSEL-QX - Manual (Page 260)

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Part 4 Commands
(Note 9) If an axis moving in accordance with J W has its “Axis-specific parameter No. 1, Axis
operation type” set to “0” (linear movement axis) AND “Axis-specific parameter No. 68,
Linear movement mode selection for linear movement axis” to “1” (infinite-stroke mode*),
the axis will operate based on an infinite stroke.
When infinite stroke is enabled, the current position will cycle between approximately –10 m
and 10 m.
Any positioning command other than the above to a position exceeding a coordinate range
from approximately –9990 to +9990 will generate an “Error No. CBE, Target data boundary
over error.” Executing any positioning command other than the above outside a coordinate
range from approx. –9990 to +9990 will also generate an “Error No. CC5, Positioning
boundary pull-out error.”
(These errors generate because the controller cannot recognize the operating direction
reliably around the boundary. The current value may need to be reset using a HOME
command, in conjunction with “Axis-specific parameter No. 10, Method of movement to
absolute reset position/home return” being set to “1” (current position 0 home).)
When infinite stroke is enabled, be sure to perform a timeout check using other task or an
external system.
The infinite-stroke mode can be specified only when an incremental encoder is used.
Be sure to contact IAI’s Sales Engineering if you wish to use the infinite-stroke mode.
[Example 1] VEL 100 Set the speed to 100 mm/s.
JBWF 10000 10 Move axis 5 backward while input 10 is OFF.
[Example 2] An axis pattern can be indirectly specified using a variable. An example of specifying
the operation in [Example 1] indirectly using a variable is shown below.
10000 (binary)
o 16 (decimal)
VEL 100 Set the speed to 100 mm/s.
JET 1 16 Assign 12 to variable 1.
JBWF *1 10
[Example 3] VEL 100 Set the speed to 100 mm/s.
JET 5 20 Assign 20 to variable 5.
JFWN 10000 *5 Move axis 5 forward while the content of variable 5
(input 20) is ON.