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.