Motoman NX 100 User Manual

5.2 Robot Control Function
5-11
RJSEQ
Reads the current job name, line No. and step No.
Command format : RJSEQ
Response format : Data-1, Data-2, Data-3 or Error code
Data-1 = Read job name (8 characters which can be processed in MS-DOS)
Data-2 = Read line No. (0 to 9999)
Data-3 = Read step No. (0 to 999)
<Example>
Command RJSEQ
Response WORK-A, 10, 5
JWAIT
JWAIT is for checking operations (job) of the manipulator. If a response is returned immedi-
ately after the job is started, in such a case with START command, completion of the job can-
not be known.
Specify a waiting time as an operand for JWAIT command.
No response is sent out until the operation of manipulator is completed or the specified waiting
time has elapsed. JWAIT returns as a response, the information whether the operation has
completed or not.
Command format : JWAIT Time
Time = Waiting time (-1.0 to 32767 sec.)
-1.0 indicates infinite time.
Response format : Data or Error code
Data = Operation status (0 : completed, -1 : not completed)
Waits for stop of job execution. The response varies depending on the following status.
<Status> <Response>
END or PAUSE execution during waiting time Completed
Step execution during waiting time Completed
Stopped by hold, alarm, emergency stop, servo OFF during
waiting time
Not completed
Stopped by changing mode during waiting time Not completed
Test run is interrupted during waiting time Not completed

Motoman NX 100 Specifications

General

Brand	Motoman
Model	NX 100
Category	Controller
Language	English