Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (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

[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.

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Iai-america XSEL-QX Manuel d'utilisateur Page 259

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