Janome JR2000N Series - Page 82

Features II JS/JSR4400N SCARA Robot
JSG GANTRY Robot
JR2000N Desktop Robot
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The distance and speed can be given by variables and expressions.
waitCond
ld #genIn2
endWait
downZ #P_Z(1)-#point_Z,20
Wait in place until the following condition is met:
#genIn2=ON (Condition)
End of condition
Lower or raise only the Z-Axis at 20mm/sec by a distance
calculated by deducting the Z-coordinates of the current point
from the Z-coordinates of P1.
#P_Z(1): Variable which has the Z-coordinate value of P1 in the current program
#point_Z: Variable which has the Z-coordinate value of the current point
z If you assign a value to the variable #jobStartHight to point job data as [Job before Moving] or [Job
while Moving] (using a let command), the robot starts the point job from a position higher than the
set Z-coordinate determined by the assigned value.
Example:
Start [Point Job]. (Point Job Data 12)
2.5mm
P1
P01
Type: CP Start Point
Job before Moving: Point Job Data 3
Point Job: Point Job Data 12
#jobStartHight 25
Point Job Data 3