IAI RA Series, Instruction Manual

Page: 94 / 186

4. Operation Program
86
z
XJ (extension motion control axis jog movement)
Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O/flag)
Command, declaration
Output part
operation type
(output/flag)
Command,
declaration
Operand 1 Operand 2
E N, Cnd Cmnd Operand1 Operand2 Pst
Optional Optional XJ
Input, output,
flag No.
Prohibited PE
[Function] It is possible to move the extension motion control control axis specified by the XAXS
command forward/backward by turning ON/OFF input port or output port specified by
operation 1 or flag.
XJFN … Moves forward when the specified port is turned ON
XJFF … Moves forward when the specified port is turned OFF
XJBN… Moves backward when the specified port is turned ON
XJBF… Moves backward when the specified port is turned OFF
Caution :
(1) Set axis patterns using the XAXS or XA16 command before executing this command. If the
command has not been executed, error No. 4B3 “No extension motion control board axe pattern
setting error” occurs.
(2) This command is valid for axes that have not completed home return, but the speed is limited by
parameter common for extension motion control board No. 4 “maximum jog speed when home
return not completed.” Also, the coordinate values before completing the home-return operation do
not have any meaning, and the soft limit check is also ineffective. Therefore, pay special attention
to interference on the workpiece or stroke end.
(3) This command requires indication of the velocity, acceleration and deceleration in VEL, VLMX,
ACC, DCL Commands before execution. If those commands have not been executed, an error
occurs.
[Example 1] VEL 100 Set 100 mm/s for speed.
XAXS 0 11 Set axis patterns for axes 16 and 17.
XJBF 10 Move axes 16 and 17 backward when input port No. 10 is
turned OFF.
[Example 2] VEL 100 Set 100 mm/s for speed.
LET 5 20 Assign 20 to variable No. 5.
XAXS 0 11 Set axis patterns for axes 0 and 1.
XJFN *5 Move axes 0 and 1 forward when input port No. 20 (The
contents of Variable 5) is turned ON.
ME0364-2B