IAI America TTA User Manual
Page 41
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4-3-23. Jogging/Inching
(236H)
Function: Move by jogging/inching.
Data name
Data range (value)
Data size
[bytes]
Cumulative
bytes [bytes]
Endian Sign
extension
Unit Description
Remarks
Big Little
Yes
No
Command
Header '!'
1
1
Station 'XX(h)'
2
3
Message ID
'236(h)'
3
6
Axis pattern
'XX(h)'
2
8
Only one axis can be specified for the
SCARA type (multiple axes cannot be
specified).
With the SCARA type, a jogging/inching
command can be issued only when none of
the servo axes are operating.
For the X-SEL-PX/QX series, SCARA and
direct-acting axes cannot be specified
simultaneously.
For the X-SEL-RDX/SXD series, two
SCARA units cannot be specified
simultaneously.
Acceleration 'XXXX(h)'
4
12
0.01 G
(For each axis, in %)
The parameter setting becomes effective if
zero.
Deceleration 'XXXX(h)'
4
16
0.01 G
(For each axis, in %)
The parameter setting becomes effective if
zero.
Speed 'XXXX(h)'
4
20
mm/sec
(For each axis, in %)
The parameter setting becomes effective if
zero.
(Safety limit applies depending on the
mode.)
Inching distance
'XXXXXXXX(h)'
8
28
0.001 mm
(For each axis, in 0.001 deg)
Specify by an absolute value. Distance is
not specified if zero (= jogging).
Operation type
'X(h)'
1
29
Bit 3 (Reserved for system use)
Bit 1, 2 (Jogging/inching coordinate system
(SCARA only)): 0 = Base coordinate
system / 1 = Selected work coordinate
system / 2 = Selected tool coordinate
system / 3 = Each axis system
Bit 0 (Jogging/inching direction): 0 =
Negative direction on coordinate axis / 1 =
Positive direction on coordinate axis
SC 'XX(h)'
2
31
CR 0Dh
1
32
LF 0Ah
1
33
Norm
al
respon
se
Header '#'
1
1
Station 'XX(h)'
2
3
Message ID
'236(h)'
3
6
SC 'XX(h)'
2
8
CR 0Dh
1
9
LF 0Ah
1
10
Error
respon
se
Error response format
Refer to the error
response format.
10 10
(Note 1)
Add H (or h) at the end of each data expressed in hexadecimal notation. If there is no H or h at the end, the data is considered a decimal.
(Note 2)
Data enclosed in single quotation marks indicates an ASCII code. Data is a hexadecimal ASCII code if (h) is added before the closing quotation mark, or a decimal ASCII code if (d) is added before the closing
quotation mark.