Multi-Execution Of Motion Control Instructions; Multi-Execution In Aborting Mode - Omron NJ501-4500 Manual

4 Robot Instructions
4-2 Multi-execution of Motion Control
Instructions
You can execute some robot instructions during execution of another robot instruction.
The robot instructions you can execute also vary depending on their BufferMode (Buffer Mode Selec-
tion).
This section describes the robot instructions that you can execute and that you cannot execute for each
mode.
Note that the MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchronous Absolute Positioning)
instruction is not a robot instruction. This instruction is additionally described here because you can use
it to operate the robot.
4-2-1

Multi-execution in Aborting Mode

The following table shows the instructions executed with BufferMode (Buffer Mode Selection) set to
Aborting.
The current
MC_Move
instruction
TimeAbsolute
Next instruction
MC_MoveTime
Conditional
*4
Absolute
MC_SyncLinear
Conditional
*4
Conveyor
*3
Error
MC_SyncOut
*5
Error
MC_SyncOut
MC_GroupSync
Executable
MoveAbsolute
MC_RobotJog Error
*1. When Phase is not 6.
*2. When Phase is 6.
*3. When SyncStopType (Synch Stop Type Selection) is set to 0 (Synchronized stop) or 2 (Synchronized stop with Deceler-
ation).
*4. When BufferMode (Buffer Mode Selection) is set to Aborting.
*5. When SyncStopType (Synch Stop Type Selection) is set to 1 (Immediate stop).
Note 1. Executable: You can execute the next instruction. The instruction which is currently executed is aborted.
2. Conditional: You can execute the next instruction. The instruction which is currently executed is aborted. Note that
command velocity output starts from the initial value (0).
3. Error: An error is detected when the next instruction is executed and the axes stop immediately.
4 - 84
MC_Sync MC_Sync
Linear Linear
*1 *2
Conveyor Conveyor
Conditional Conditional
Conditional Conditional
Error Executable
Executable Executable
Executable Executable
Error Error
MC_Group
MC_Sync
SyncMove
*3
Out
Absolute
Conditional Conditional
Conditional Conditional
Error Error
Error Error
Executable Executable
Error Error
NJ-series NJ Robotics CPU Unit User's Manual (W539)
MC_Robot
Jog
Conditional
Conditional
Error
Error
Executable
Error