Omron NJ501-4300, Руководство пользователя

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4 Robot Instructions
4 - 46 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
 If H1
>
0.0 and T1
>
0:
1
The instruction creates command positions according to which the robot moves away from the
current position and reaches the (current position
+
H1) position on Z axis after the elapse of T1.
2
After the elapse of (T1 × Ttrans1), the instruction creates command positions according to which
the robot tracks the workpiece.
At this moment, the robot does not stop.
3
After the elapse of (T1 + T2), the instruction creates command positions according to which the
robot moves down along Z axis.
At this moment, the robot does not stop.
Symbol Description
T1 Trajectory target time (unit: ms)
T2
T3
Ttrans1
Trajectory transition (unit: %)
Ttrans2
H1
The travel distance on the trajectory in Z axis direc-
tion in the machine coordinate system (unit: mm)
Symbol Description
(A) The current position of the robot
(B) T1
×
Ttrans1
(C) T1, H1
(D) T2
(E) T3
−
T3
×
Ttrans2
(F) InSync changes to TRUE when the position of the robot and the position of the
workpiece match.
(G) T3
(H) T3
×
Ttrans2
(I) The trajectory for the workpiece which is not moved.
(J) The trajectory for the workpiece which is in motion.
(K) The range in which InSync is TRUE.
(L) The range of MC_SyncLinearConveyor (Start Conveyor Synchronization) instruction
execution.
(A)
(B)
(C)
(D)
(E)
(G)
(H)
(J)
(F)
(K)
(L)
(I)
Z axis
X axis