Janome JR2000N Series - Page 70

Features II JS/JSR4400N SCARA Robot
JSG GANTRY Robot
JR2000N Desktop Robot
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Program numbers can also be given using expressions.
Example:
declare num eprg
waitCondTime 200
ld #genIn1
timeUp
if
ld #genIn2
then
eprg = 9
else
eprg = 10
endIf
callProg eprg
endWait
Declare a local variable eprg.
Wait for 0.2 seconds until the following condition is met:
#genIn1=ON (Condition)
If the condition is not met within 0.2 seconds,
If
#genIn2=ON
then
Assign 9 to eprg.
If not,
Assign 10 to eprg.
Call the program No. 9 or 10 as a subroutine.
■ Position Data Settings
Point coordinates definition (position data settings) in the point data can be set in [Position Data
Types] in the [Program Data Settings] menu. There are the following three position data types:
• Absolute: The position data value is equal to the robot’s absolute coordinates. (Default)
• Relative: The position data is equal to the distance from the program start coordinates to the
current position coordinates.
(If the start coordinate is (0,0), it is equal to the [Absolute] setting.)
• Moving Amount: The position data value is equal to the distance to the next point.
If you set a subprogram to [Relative] or [Moving Amount], the tool unit always runs at an equal
distance from the calling point (where point job data including the callProg command is set.)
Example: The subprogram is set to [Relative] or [Moving Amount].
The current point (calling point) is handled as SP1 (Subprogram Point 1); but the position data of SP1
is not used. The work home position is not called.
Calling Point
P6
SP1
SP2
SP3
P7
P8
Calling Point
P7
SP1
SP2
SP3
P6
P8