Features II JS/JSR4400N SCARA Robot
JSG GANTRY Robot
JR2000N Desktop Robot
82
■ Position Error Detection: checkPos
z The command explained below is available for the JR2000N Series only. It is not available for the
JSR4400N, JS, and JSG Series.
Position errors can be detected using point job commands.
When the checkPos command is executed, the robot Axis goes to the absolute coordinates (x:0, y:0,
z:0, r:0), regardless of the current position coordinates. After a position error has been detected, the
robot Axis goes to the next point.
Command Category Command Parameter Job
Move checkPos – Detect a position error.
z The [Move] commands are deactivated at points where the (base) point type [CP Passing Point] is
set.
Refer to the system flag (#sysFlag35) for the result of the position error check.
Normal: 0
Position Error: 1
Example:
checkPos
if
ld #sysFlag(35)
then
waitStartBZ
endIf
Perform a position error check.
If
a position error is detected,
sound a buzzer and wait until a start signal comes.
If a position error is detected, the #sysOut8 ([Position Error]) signal also comes on.
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