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4MELFA-BASIC IV
JRC (Joint Roll Change)
[Function]
• This instruction rewrites the current coordinate values by adding +/-360 degrees to the current joint coordi-
nate values of the applicable axis (refer to <Axis No> in [Terminology]) of the robot arm.
• User-defined axis (additional axis, user defined mechanism)
This instruction rewrites the current coordinate values by adding/subtracting the value specified by a
parameter to/from the current joint coordinate values of the specified axis. This instruction can be used for
both rotating and linear axes. The origin can also be reset at the current position.
[Format]
JRC < [+] 1 / -1 / 0 > [, < Axis No>]
.
JRC < [+] <Numeric Value> / -<Numeric Value> / 0 > [, < Axis No>]
[Terminology]
<+1>
<-1>
<0>
<Axis No>
<Numeric Value>
[Reference Program]
1 Mov P1
2 JRC +1
3 Mov P1
4 JRC +1
5 Mov P1
6 JRC -2
4-211 Detailed explanation of command words
The current joint angle of the designated axis is incremented by the amount designated
in parameter JRCQTT(The sign can be omitted.). For the priority axes of the robot arm,
it is fixed at 360 degrees.
The current joint angle of the designated axis is decremented by the amount designated
in parameter JRCQTT. For the priority axes of the robot arm, it is fixed at 360 degrees.
The origin for the designated axis is reset at the value designated in parameter JRCORG.
This can be used only for the user-defined axis.
The target axis is specified with the number. The priority axes are used if omitted.
Note that this argument cannot be omitted if additional axes and/or user-defined mechan-
ical axes are the targets.
[Applicable Models and Applicable Axes]
(1)Applicable models and priority axes
RV- SD series: J6 axis
RH- SDH series: J4 axis
(2)Additional axes of all models
(3)All axes of user defined mechanisms
Specify an incremental/decremental number (a multiple of 360 degrees). Description
by the constant or the variable is possible (J1 edition or later is possible).
Example) +3: Increases the applicable axis angle by 1080 degrees.
-2: Decreases the angle by 720 degrees..
' Moves to P1.(The movement to which the J6 axis moves in the minus direction)
' Add 360 degrees to the current coordinate values of the applicable axis.
' Moves to P1.
' Add 360 degrees to the current coordinate values of the applicable axis.
' Moves to P1.
' Subtract 720 degrees from the current coordinate values of the applicable axis.
(Reverts)
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