Omron NJ501-4300, Manual

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2 Features of NJ Robotics CPU Unit
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
2-3 Ro
bo
t F
unc
tion
s
2
2
-3-10
Checking Maximum Interpo
lation V
elocity
an
d Maximum Inter
polation
A
ccele
ration/Decele
ration
The maximum interpolation velocity check and maximum interpolation acceleration/deceleration check
are performed for the robot TCP and the active TCP.
The maximum interpolation velocity and maximum interpolation acceleration/deceleration for the robot
TCP are set to protect the robot.
The maximum interpolation velocity and maximum interpolation acceleration/deceleration for the active
TCP are set to protect workpieces.
The following table shows the frequency of maximum interpolation velocity check and maximum inter-
polation acceleration/deceleration check.
Details are provided below.
B/I: Background and instruction, B: Background only, I: Instruction only, NP: Not performed
Precautions for Correct Use
The checks are disabled if the maximum interpolation velocity and maximum interpolation
acceleration/deceleration are set to 0.0.
You can set the values detected as the velocity error and acceleration error of the robot TCP.
The maximum interpolation velocity check and maximum interpolation acceleration/deceleration check
are enabled when the following conditions are met.
• The kinematics are set and the axes group is enabled.
• The maximum interpolation velocity and maximum interpolation acceleration/deceleration are set
to the values other than 0.0.
• The background velocity error check and acceleration error check are enabled only for command val-
ues. They are disabled for actual values.
• If the command value exceeds the maximum interpolation velocity or maximum interpolation acceler-
ation/deceleration, an axes group error occurs and instruction execution stops.
• The velocity error check and acceleration error check are executed for the robot TCP.
• Use the MC_SetKinTransform (Set Kinematics Transformation) instruction to set the maximum inter-
polation velocity and maximum interpolation acceleration/deceleration. The checks are disabled if the
values are set to 0.0.
2-3-10 Checking Maximum Interpolation Velocity and Maximum Interpo-
lation Acceleration/Deceleration
Timing
Robot TCP is selected Active TCP is selected
Maximum Interpola-
tion Velocity
Maximum Interpola-
tion Accelera-
tion/deceleration
Maximum Interpola-
tion Velocity
Maximum Interpola-
tion Accelera-
tion/deceleration
Robot
TCP
Active
TCP
Robot
TCP
Active
TCP
Robot
TCP
Active
TCP
Robot
TCP
Active
TCP
At instruction
execution
I NP I NP NP NP NP NP
In every con-
trol period
B/I NP B/I NP B I B I
Checks in Background