Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 86 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
The following table shows the instructions executed with BufferMode (Buffer Mode Selection) set to
Blending ( mixing).
The robot instructions that are not listed in the table are the instructions for which you cannot select
Blending in BufferMode (Buffer Mode Selection).
Note 1. Conditional 1: You can execute the next instruction when TransitionMode (Transition Mode) is set to _mcTMStart-
Height (Start height) or _mcTMStartRemainingTime (Start remaining time).
2. Conditional 2: You can execute the next instruction only when TransitionMode (Transition Mode) is set to _mcTM-
StartRemainingTime (Start remaining time).
3. Error: An error is detected when the next instruction is executed and the axes stop immediately.
If the TransitionMode (Transition Mode) input variable is set to _mcTMStartHeight (Start height), the
next instruction is blended with the current instruction.
The value of Transition Start Height set in the TransitionParameter (Transition Parameters) input vari-
able determines the blended part of the instruction.
Transition starts when the travel distance in Z axis direction exceeds the Transition Start Height in the
current instruction
. The transition ends at the same time as the current instruction is completed only by
itself.
4-2-3 Multi-execution in Blending Mode
The current
instruction
MC_Move
TimeAbsolute
MC_Sync
Linear
Conveyor
*1
*1. When Phase is not 6.
MC_Sync
Linear
Conveyor
*2
*2. When Phase is 6.
MC_Sync
Out
*3
*3. When SyncStopType (Synch Stop Type Selection) is set to 0: Synchronized stop or 2: Synchronized stop with Deceler-
ation.
MC_Group
SyncMove
Absolute
MC_Robot
Jog
Next instruction
MC_MoveTime
Absolute
*4
*4. When BufferMode (Buffer Mode Selection) is set to Blending (mixing).
Conditional 2 Error Error Conditional 1 Error Error
MC_SyncLinear
Conveyor
*4
Conditional 2 Error Error Conditional 1 Error Error
_mcTMStartHeight (Start Height)