Installation manual

Chapter 6 Programming
6-94
６．１１．７ JUMP rule
When playback is performed, the method to make the arm move between two data not
directly linked as teach data, is called “JUMP rule.” JUMP rule can be broadly divided in
two. “Tacit JUMP”: the one not needing JUMP condition. “Conditional JUMP”: the
one needing JUMP condition.
① Tacit JUMP
”Tacit JUMP” interpolates an interval between the last and the top teach point only in
forward motion and actuates the arm. (The last and the top teach point described here
are located inside the same teach data “Key”.) Teach data is never automatically
changed by teach data “Key.” This means: the end of playback performance always
comes to the top teach point when in playback forward motion (Designated times are
performed.)
For this case, the control method, motion velocity and velocity pattern employ the
last teach data.
② Conditional JUMP
With JUMP condition inside teach data, teach data route is altered by force. This
method interpolates teach data commanded from the current teach point, or interval
between two teach points with ID designating Key. A playback route can be controlled
by inputting DI on account of employing this conditional JUMP.
If ”tacit JUMP” and conditional JUMP are employed together, the following set-back
occurs:
Creating JUMP condition for the teach data “Key 2” (designated ID), inside the teach
data “Key 1,” if no JUMP condition is set inside the teach data “Kwy 2,” motion is as
follows:
Playback forward consecutive motion starts from teach data “Key１”.
↓
JUMP to teach data “Key 2” (designated ID) with JUMP condition
↓ (Conditional JUMP processing)
Playback teach data “Key 2”.
↓
Arrival to the last teach point of teach data “Key 2”.
↓ (Tacit JUMP)
Playback from the top of teach data “Key 2”.
As long as JUMP condition is not clearly designated, JUMP processing is not reversed
from teach data “Key 2” to teach data “Key 1”.
Remark