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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
Trajectory for Time-specified Absolute Positioning
The following figure shows the TCP trajectory for two Time-specified Absolute Positioning instruc-
tions.
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.
Symbol
Description
(A)
The current instruction
(B)
The next instruction
(C)
The time at which transition is
started.
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
No transition
Y
X
(A)
(B)
Start remaining time
Y
X
(C)
(C)
X
X
Z
Z
(A)
(B)
(C)
(C)
(D)
(D)
(D)
(E)
No transition
Start remaining time
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: ......