IAI X-SEL PX, Operation Manual, Page: 263 / 560

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Part 4 Commands

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
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
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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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)  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.
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