Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 56 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
• A different instruction instance can be executed during axis motion.
•
BufferMode specifies how to join the axis motions for this interpolation instruction and the previous
interpolation instruction.
• The following Buffer Modes are supported for BufferMode .
For details on BufferMode (Buffer Mode Selection), refer to the NJ/NX-series CPU Unit Motion Control
User’s Manual (Cat. No. W507).
• TransitionMode specifies how to combine the trajectories created by the previous interpolation oper-
ation and the next interpolation operation.
• For TransitionMode , select _mcTMNone (Transition disabled), _mcTMStartHeight (Start height) or
_mcTMStartRemainingTime (Start remaining time).
• TransitionMode is valid when blending is specified for BufferMode (Buffer Mode Selection).
• An error will occur if you do not set TransitionMode to _mcTMNone (Transition disabled) when blend-
ing is not used.
BufferMode (Buffer Mode Selection)
Buffer Mode
Selection
Description
Aborting Cancels the instruction being executed and switches to this instruction.
If the direction of axis motion is reversed by switching instructions, the motion will be
reversed according to the Operation Selection at Reversing axis parameter.
Buffered Buffers this instruction and executes it automatically after the current instruction is com-
pleted.
Blending Starts the buffered instruction at the velocity (transit velocity) at which the current instruc-
tion reaches the target position. The operation of the current instruction is changed so
that the axes reach the target position at the transit velocity. There are four methods to
specify the transit velocity. These are described below.
Blending low The lower of the target velocities of the current instruction and the buffered instruction is
used as the transit velocity.
Blending previ-
ous The target velocity of the current instruction is used as the transit velocity.
Blending next The target velocity of the buffered instruction is used as the transit velocity.
Blending high The higher of the target velocities of the current instruction and the buffered instruction is
used as the transit velocity.
TransitionMode (Transition Mode)