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4 Robot Instructions
4 - 80
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
This section describes re-execution in the same direction and in a different direction.
Restarting with
Enable
in the Same Direction
If you change a
PositiveEnable
(Positive Direction Enable) variable to TRUE when it is FALSE and
the axes are decelerating, the axes will begin to accelerate towards the target velocity.
This also applies to a
NegativeEnable
(Negative Direction Enable) variable.
If you change the value of
Velocity
(Target Velocity),
Acceleration
(Acceleration Rate), or
Decelera-
tion
(Deceleration Rate) when you re-execute the instruction, operation is performed with the new
value of the input variable.
Note that
Busy
(Executing) does not change to FALSE because the axes do not stop.
Restarting with
Enable
in the Opposite Direction
• If you change a
NegativeEnable
(Negative Direction Enable) variable to TRUE when the robot is
jogging in the positive direction, the robot reverse its direction and starts jogging in the negative
direction. In this case, jogging is performed with the current input variables when a
NegativeEn-
able
(Negative Direction Enable) variable changed to TRUE. The input variables are
Velocity
(Tar-
get Velocity),
Acceleration
(Acceleration Rate), and
Deceleration
(Deceleration Rate).
The deceleration rate for reversing and the acceleration rate after reversing are determined by the
variables that are input when NegativeEnable (Negative Direction Enable) changed to TRUE,
regardless of the value of the Operation Selection at Reversing axis parameter.
If a
PositiveEnable
(Positive Direction Enable) variable changes to TRUE during jogging in the
negative direction, the same operation is performed.
• If you change a
NegativeEnable
(Negative Direction Enable) variable to TRUE while a
PositiveEn-
able
(Positive Direction Enable) variable is TRUE, the robot start jogging in the negative direction.
If you change the
NegativeEnable
(Negative Direction Enable) variable to FALSE after the previ-
ous operation, the axes will not jog in the positive direction even if the
PositiveEnable
(Positive
Direction Enable) variable is TRUE.
To jog the axes in the positive direction, you need to change the
PositiveEnable
(Positive Direc-
tion Enable) variable to FALSE and then change it to TRUE again.
The same operation applies to the opposite case.
There are restrictions on the instructions that you can execute while this instruction is in execution.
4-2 Multi-execution of Motion Control Instructions
on page 4-84 for details on multi-execution
of motion control instructions.
Re-execution of Motion Control Instructions
Multi-execution of Motion Control Instructions
Содержание NJ501-4300
Страница 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
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