![background image](http://html1.mh-extra.com/html/omron/nj501-4300/nj501-4300_manual_742408191.webp)
4 - 87
4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
4-2 Mu
lti-
execut
ion
of
Motio
n
C
ont
rol In
struct
ion
s
4
4-
2-3 Multi-execution in Blending Mode
Precautions for Correct Use
• If the current position in the current instruction is already higher than the Transition Start
Height, transition starts immediately and an observation occurs.
• If duration of the buffered instruction is the same as or shorter than the transition time, an
error occurs. When MC_SyncLinearConveyor is executed as the buffered instruction, the
duration of buffered instruction is equal to (T1
+
T2
+
T3
−
T3
×
Ttrans2).
• When
_mcTMStartHeight
(Start height) is used, the values of velocity, acceleration rate and
deceleration rate may be greater than that of the current and next instructions that are exe-
cuted separately.
If they must be used, be careful of the operation.
• An error occurs if the next instruction is the MC_SyncLinearConveyor (Start Conveyor Syn-
chronization) instruction and all the following conditions are met.
The operation direction along Z axis in the machine coordinate system (MCS) is different
for the current and buffered instructions and operation that meets the above conditions is
completed earlier than the transition.
Trajectory in Conveyor Synchronization
The motion of current instruction in the conveyor direction is decelerated so that the instruction is
blended with the next instruction.
Duration of deceleration in the conveyor direction is determined by the following table.
Symbol
Description
(A)
The conveyor synchronization
instruction which is currently exe-
cuted
(B)
The next instruction
(C)
The time at which transition is
started
(D)
Operation distance
(E)
Half operation distance
(F)
Transition Start Height
Synchronized
stop
Synchronized stop with Deceleration
Deceleration by DecelerationTrigger
has not started yet
is on going
has already
finished
Remaining time of
current instruction
Specified deceleration target time
(Continues current
deceleration profile)
Do not move in the
conveyor direction
X
X
Z
Z
(A)
(B)
(C)
(C)
(D)
(D)
(D)
(E)
(F)
(F)
No transition
Start height
Summary of Contents for NJ501-4300
Page 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
Page 335: ......