IAI PSEL, Operation Manual

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[12]
Actuator Control Command
360
(Note 7) If the R-axis generates “Error No. C74: Actual-position soft limit over error” due to
a posture control component, etc., during SCARA-axis jog operation, take an
appropriate action, such as bringing the R-axis position closer to the center of the
R-axis stroke, using the jog function for each axis in the PC software or on the
teaching pendant.
(Note 8) When tool offset for SCARA axis is enabled (tool coordinate system selection
number is not 0), jogging of the R-axis involves rotation at the tool tip and thus
arms 1 and 2 move. Exercise caution.
(Note 9) If the axis that moves according to J W is a linear axis, and also if axis-specific
parameter No. 1, “Axis operation type” is set to 0 (Linear movement axis) while
axis-specific parameter No. 68, “Linear-axis linear movement mode selection” is
set to 1 (Infinite stroke mode*), infinite stroke operation is performed.
During infinite stroke operation, the current position circulates within a range of
approx. -10m to 10m.
Any positioning command to a position outside a coordinate range of approx.
-9999 to +9990 generates “Error No. CBE: Target-value data boundary over error”.
If a positioning command not meeting the above condition is executed outside a
coordinate range of approx. -9990 to +9990, “Error No. CC5: Positioning boundary
breakout error” occurs.
(These errors are generated intentionally because the user cannot recognize the
operating direction precisely around the boundary. If any of these errors occurs,
axis-specific parameter No. 10, “ABS reset position movement/home return method”
must be set to 1 (Current position 0 home) and, if necessary, the current value may
also have to be reset with a HOME command.)
During infinite stroke operation, be sure to implement a timeout check using other
task or external system.
The infinite-stroke mode can be specified only when an incremental encoder is used.
If you wish to use the infinite-stroke mode, contact IAI’s Sales Engineering.
[Example 1] VEL 100 Set the speed to 100mm/s.
JBWF 10000 10 Move axis 5 backward while input 10 is OFF.
[Example 2] The axis pattern can be specified indirectly using a variable.
When the command in [Example 1] is rephrased based on indirect
specification using a variable:
10000 (binary)
o
16 (decimal)
VEL 100 Set the speed to 100mm/s.
LET 1 16 Assign 12 to variable 1.
JBWF *1 10
[Example 3] VEL 100 Set the speed to 100mm/s.
LET 5 20 Assign 20 to variable 5.
JFWN 10000 *5 Move axis 5 forward while the content of variable 5
(input 20), is ON.