IAI America XSEL-KET - Manual (Page 192)

173
Part 4 Commands
INTELLIGENT ACTUATOR

JXWX (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 JXWX
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.
(Note 1) This command is also valid on an axis not yet completing home return. In this case, the maximum speed
will be limited by “All-axis parameter No. 15, Maximum jog speed before home return.” Since coordinate
values do not mean anything before home return, pay due attention to prevent contact with the stroke
ends.
(Note 2) If an axis moving in accordance with JXWX 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” to “1” (Infinite-stroke mode*), the axis will operate based on an infinite stroke. Refer to
Appendix, “Combination Table of X-SEL Linear/Rotational Control Parameters.”
When infinite stroke is enabled, the current position will cycle between approx. –10 m and 10 m.
Any positioning command other than the above to a position exceeding a coordinate range from approx.
–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 deviation error.”
(These errors generate because the user 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-
specified parameter No. 10, Home-return method” 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 for an incremental-encoder axis.
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/sec.
JBWF 1100 10 Move axes 3 and 4 backward while input 10 is OFF.
[Example 2] The axis pattern can be indirectly specified using a variable. When [Example 1] is
indirectly specified using a variable.
1100 (binary)  12 (decima)
VEL 100 Set the speed to 100 mm/sec.
LET 1 12 Assign 12 to variable 1.
JBWF *1 10
[Example 3] VEL 100 Set the speed to 100 mm/sec.
LET 5 20 Assign 20 to variable 5.
JFWN 1010 *5 Move axes 2 and 4 forward while the content of variable 5
(input port 20), is ON.