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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
-3-1
1 Multi-
execution of Instructions with
B
u
ffer
ed Mode
Checks in Every Control Period
The following two types of checks are performed in every control period.
• Checks for the velocity error and acceleration error during instruction execution.
• If the command velocity or command acceleration/deceleration exceeds the maximum interpola-
tion velocity or maximum interpolation acceleration/deceleration, an axes group error occurs and
instruction execution stops.
In the first control period after instruction execution, only the velocity error is checked.
Checks During Transition
During transition between two instructions, the velocity error and acceleration error are checked in
both instructions.
The NJ Robotics CPU Units support multi-execution of instructions with the buffered (standby) mode.
4-2-2 Multi-execution in Buffered Mode
on page 4-85 and the
NJ/NX-series CPU Unit Motion
Control User's Manual
(Cat. No. W507) for details.
The NJ Robotics CPU Units support multi-execution of instructions with the blending (mixing) mode.
Because the robot control requires smooth transitions, you need to select the
TransitionMode
(Transi-
tion Mode) input variable to blend robot instructions.
You can select the type of transition between instructions using the
TransitionMode
(Transition Mode)
input variable in robot instructions.
4-2-3 Multi-execution in Blending Mode
on page 4-86 and the
NJ/NX-series CPU Unit Motion
Control User's Manual
(Cat. No. W507) for details.
Symbol
Meaning
(A)
Checks at instruction execution
(B)
Checks in every control period
(C)
Transition period
2-3-11 Multi-execution of Instructions with Buffered Mode
2-3-12 Multi-execution of Instructions with Blending Mode
(A)&(B)
(B)
(A)&(B)
(B)
n
n
+
1
n
+
2
n
+
3
n
+
4
n
+
5
n
+
6
n
+
7
n
+
8
n
+
9
n
+
10
n
+
11
n
+
12
n
+
13
(C)
1st instruction
Control
period
2nd instruction
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: ......