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4-Axis Robots and WJNT

  • EnergyAddict
  • April 30, 2025 at 3:58 PM
  • Thread is Unresolved
  • EnergyAddict
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    • April 30, 2025 at 3:58 PM
    • #1

    Ok. So I inherited some robot code, on a few M410s. The Original Programmer has some linear moves, that he sometimes uses a WJNT with and sometimes not. It's the exact same path, and point, and speed, etc. the only difference is the WJNT see below:

    Code
      #:  IF (some status is met) THEN ;
      #:L PR[99:VARPOS] 1000mm/sec CR25 Wjnt    ;
      #:  ELSE ;
      #:L PR[99:VARPOS] 1000mm/sec CR25    ;
      #:  ENDIF ;

    The Question is, with these being 410s (4-Axis robots) what really is the difference that a WJNT would do to the move, and why WOULDN'T you ALWAYS use a WJNT?

    From what I'm told, this may have been added because at one point J4 would execute this move during a certain case (Without WJNT) and would end up winding itself up and causing an axis limit error.

  • Sergei Troizky
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    • April 30, 2025 at 4:52 PM
    • #2
    Quote from EnergyAddict

    From what I'm told, this may have been added because at one point J4 would execute this move during a certain case (Without WJNT) and would end up winding itself up and causing an axis limit error.

    That's right. This is the only reason to use WJNT, regardless of the number of axes.

    Do it well right away. It will become bad by itself.

  • EnergyAddict
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    • April 30, 2025 at 5:05 PM
    • #3

    Is there any reason you wouldn't want to use a WJNT move? specifically with a 4 axis robot?

  • Sergei Troizky
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    • April 30, 2025 at 5:30 PM
    • #4

    Wjnt by definition affects axes 4 and up. On 5- or 6-axis robot, the path becomes unpredictable (though repeatable), which may be a problem in tight space.
    With 4-axis robot I cannot imagine a reason for not using it.

    Do it well right away. It will become bad by itself.

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Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
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  • TCP/IP
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  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000
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