Installation manual

Chapter 6 Programming
6-73
Teach data types are as follows:
・Each axis (θ
Ｓ１
～θ
Ｗ２
) data
・Tip position/orientation (NOAP) data
（２）JUMP Data
JUMP data is the annexed information related to the teach point. It has attributes
such as JUMP condition and JUMP destination, etc.
JUMP information numbers in the teach point attribute are referred when in playback.
If its value is more than 1, JUMP condition search is performed. If the JUMP condition
can be found, then, condition check will be performed.
When the condition is established, JUMP destination (teach data “Key” and teach point
ID) indicated in JUMP condition is searched. If its destination is found, the interval from
the current teach point to the discovered one is interpolated and motion starts. This
status is called motion between teach points (RMRC) or motion between teach points
(each axis).)
If motion between teach points is completed, the active teach data is replaced by the
arrived teach data “Key.” Hereafter, motion is controlled by its teach data.
JUMP condition data composition is as follows:
JUMP conditional data composition
Structure Type Designations Details
long
JUMP condition Number
Numbers designating JUMP conditions
long JUMP condition JUMPcondition (refer to the next
page (5))
long Spare Not used
ＪＵＤＧＥ long DI data DI data for condition appraisal
long Time-out Time-out when in wait
No time-out with 0
long Teach data Key JUMP destination teach data Key
long Teach point ID JUMP destination teach point ID
long Reservation Employed by a system
Omitted. （ There are 8 (eight) data from JUMP condition to the
reservation.）
long JUMP condition JUMPcondition (refer to the next
page (5))
long Spare Not yet used
long DI data DI data for condition appraisal
ＪＵＤＧＥ long Time-out Time-out when in wait
No time-out with 0
long Teach data “Key” JUMP destination teach data “Key”
long Teach point ID JUMP destination teach point ID
long Reservation Employed by a system