Mitsubishi MELFA CR1D Instruction Manual page 211

Fine J (Fine Joint)
[Function]
Specifies the robot positioning complete conditions with a joint axis value.
The Fine J command will be disabled during continuous operation control (Cnt 1).
The Fine command or Fine P command will be disabled for all axes when the Fine J command is executed.
[Format]
Fine[]<Positioning Width>, J [, <Axis No.>]
[Terminology]
< Positioning Width >The positioning width is specified with either a variable or constant and will be disabled
< Axis No. >
[Reference Program]
1 Fine 1, J
2 Mov P1
3 Fine 0.5, J, 2
4 Mov P2
5 Fine 0, J, 5
6 Mov P3
7 Fine 0, J
8 Mov P4
[Explanation]
(1) The Fine J command specifies the operation command complete condition (positioning accuracy) with a
feedback joint value. Operation completion is determined with a joint value, resulting in more accurate
positioning.
(2) The Fine J command deems the operation to be complete when the difference between the command joint
position and feedback joint position for all enabled axes is within the <Positioning Width>.
(3) Furthermore, there are also times when positioning is performed with a Dly command (timer) instead of the
Fine J command. This is easier to specify.
1 Mov P1
2 Dly 0.1
(4) Fine J is disabled for all axes by default. Once Fine J is enabled, the enabled status is applied continuously
until disabled.
(5) Fine J is disabled when a program is terminated (End command execution, program reset following an
interruption).
(6) The Fine J enabled status is temporarily ignored (disabled, status is maintained) when in the continuous
operation control enabled status (Cnt 1).
(7) The Fine command or Fine P command will be disabled for all axes when the Fine J command is executed.
(The status is not maintained.)
(8) Fine J can be enabled and disabled and the <positioning width> can be specified for additional axes (multi-
purpose servo axes) also.
(9) If the positioning complete condition is specified with the Fine J command when the compliance mode is
functioning, depending on the operation, there may be times when the robot is unable to reach the positioning
completion pulse for its target position, the system waits for completion of the operation command, and
program execution does not proceed any further. Do not use compliance mode and the Fine J command
simultaneously.
if 0 is specified. The default value is set to 0.
Units will be in either ÅgmmÅh or Ågdeg.Åh, depending on the joint axis unit system.
The minimum value that can be specified is 0.001.
Specifies the number of the axis that specifies the positioning pulse, and will apply to
all axes if omitted. Specify with either a constant or numeric value variable.
'Specifies the positioning width for all axes to 1 [mm] (or [deg.]).
'Changes the no. 2 axis positioning width to 0.5 [mm] (or [deg.]).
'Disables the no. 5 axis positioning width specification.
'Disables the positioning width specification for all axes.
Detailed explanation of command words 4-198
4MELFA-BASIC IV