Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 88 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
If the TransitionMode (Transition Mode) input variable is set to _mcTMStartRemainingTime (Start
remaining time), the next instruction is blended with the current instruction.
The value of the Transition Start Time set in the TransitionParameter (Transition Parameters) input vari-
able determines the blended part of the instruction.
The transition starts a certain milliseconds earlier than the time at which the current instruction is com-
pleted. The number of milliseconds is set in Transition Start Time. The transition ends when the time set
in the Transition Start Time has elapsed after the transition started.
Precautions for Correct Use
• If the Transition Start Time cannot be divided evenly by the primary task in the control period
of the Controller, the transition time is extended to a multiple number of the control period.
For example, if the Transition Start Time is set to 5 ms and the control period is 2 ms, the
transition time of 5 ms is adjusted to 6 ms.
• If the remaining time for executing the current instruction is shorter than the Transition Start
Time, the transition is immediately started and an observation occurs.
• If duration of the buffered instruction is the same as or shorter than the Transition Start Time,
an error occurs. When MC_SyncLinearConveyor (Start Conveyor Synchronization) is exe-
cuted as the buffered instruction, the duration of buffered instruction is equal to (T1
+
T2
+
T3
−
T3
×
Ttrans2).
• When _mcTMStartRemainingTime (Start remaining time) is used, the values of velocity,
acceleration rate and deceleration rate may be greater than that of the current and next
instructions that are executed separately.
If they must be used, be careful of the operation.
• When MC_SyncLinearConveyor (Start Conveyor Synchronization) is executed as the buff-
ered instruction, an error (error code: 5734 hex) occurs in following conditions. In each case,
the error occurs only when all conditions are met.
_mcTMStartRemainingTime (Start Remaining Time)
The current instruction Operation status or conditions for executing next instruction
MC_SyncOut
• TrajDistance[0] (H1) is a negative number.
• TrajTime[0] (T1) is not 0 and is smaller than the Transition Start Time.
MC_MoveTimeAbsolute
• The robot is moving in the Z axis positive direction in the MCS.
• TrajDistance[0] (H1) is a negative number.
• TrajTime[0] (T1) is not 0 and is smaller than the Transition Start Time.
• The robot is moving in the Z axis negative direction in the MCS.
• TrajDistance[0] (H1) is a positive number.
• TrajTime[0] (T1) is not 0 and is smaller than the Transition Start Time.
•
_mcPositiveDirection or _mcNegativeDirection is set in Direction . (The
error does not occur if _mcNoDirection is set.)
• The rotation direction of axis (A3 of Delta3R) for the current instruction is
the opposite to that selected from above variables.
• The rotation operation for the next instruction is completed before the
transition ends.