Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 48 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
1
The instruction creates command positions according to which the robot moves away from the
current position and goes down along Z axis during the T1 period.
2
After the elapse of (T1
×
Ttrans1), the instruction creates command positions according to which
the robot tracks the workpiece.
At this moment, the robot does not stop.
3
After the elapse of (T1
+
T2), the instruction creates command positions according to which the
robot moves down along Z axis.
At this moment, the robot does not stop.
4
After the elapse of (T1
+
T2
+
(T3
−
T3
×
Ttrans2)), the instruction compares the command
position (X, Y) and the actual current position (X, Y) of the workpiece.
If the difference is within the following range, InSync changes to TRUE. If the difference
exceeds the following range, an error occurs and the axis stops. At this moment, the Workpiece
Synchronization Excessive Following error (error code: 6702 hex) occurs.
 When T1 = 0:
Motion control
period
Range of
difference
500
μ
s 0.1 mm max.
1 ms 0.1 mm max.
2 ms 0.2 mm max.
4 ms 0.4 mm max.
Symbol Description
(A) The current position of the robot
(B) T2
(C) T3
−
T3
×
Ttrans2
(D) InSync changes to TRUE when the position of the robot and the position of the
workpiece match.
(E) T3
(F) T3
×
Ttrans2
(G) The trajectory for the workpiece which is not moved.
(H) The trajectory for the workpiece which is in motion.
(I) The range in which InSync is TRUE.
(J) The range of MC_SyncLinearConveyor (Start Conveyor Synchronization) instruction
execution.
(A)
(B)
(C)
(E)
(F)
(H)
(D)
(I)
(J)
(G)
X axis
Z axis