Omron NJ501-4300, Руководство пользователя

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
4-2 Mu
lti-
execut
ion
of
Motio
n
C
ont
rol In
struct
ion
s
4
4-
2-2 Multi-execution in Buf
fered
Mode
The following table shows the instructions executed with BufferMode (Buffer Mode Selection) set to
Buffered (standby).
The robot instructions that are not listed in the table are the instructions for which you cannot select
Buffered in BufferMode (Buffer Mode Selection).
Note 1. Executable: You can execute the next instruction. The instruction which is currently executed is aborted.
2. Error: An error is detected when the next instruction is executed and the axes stop immediately.
4-2-2 Multi-execution in Buffered 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 Buffered (standby).
Executable Error Error Executable Error Error
MC_SyncLinear
Conveyor
*4
Executable Error Error Executable Error Error