IAI America IA-T-XD - Manual (Page 64)

(10) Jump movement
The actuator is moved to the location of the position data transferred to the controller by
jump motion (arch motion). Before/after normal movement or continuous movement, the
Z-axis is moved up and down.
(Supported by Teaching Pendant Application Part Ver. 1.13 or later)
Z-axis offset value
Target position
Current position
Normal movement
Motion sequence
① Raise the Z-axis from the current position to the top position (Z = 0). (Motion of the Z-axis
only)
② Movement is performed to above the target position by PTP motion while the Z-axis stays
at the top position. (Motion of the X-axis, Y-axis and R-axis only)
③ Lowering is performed to the target position. (Motion of the Z-axis only). When the Z-axis
offset value is set, the Z-axis stops before (above) the target position by the same
amount.
Z-axis offset value: Specify how many millimeters before the target position to stop the
Z-axis. No minus value can be input.
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