Multi-Execution In Blending Mode - Omron NJ501-4500 Manual

4 Robot Instructions
4-2-3

Multi-execution in Blending Mode

The following table shows the instructions executed with BufferMode (Buffer Mode Selection) set to
Blending (mixing).
The robot instructions that are not listed in the table are the instructions for which you cannot select
Blending in BufferMode (Buffer Mode Selection).
The current
MC_Move
instruction
TimeAbsolute
Next instruction
MC_MoveTime
Conditional 2
*4
Absolute
MC_SyncLinear
Conditional 2
*4
Conveyor
*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 Blending (mixing).
Note 1. Conditional 1: You can execute the next instruction when TransitionMode (Transition Mode) is set to _mcTMStart-
Height (Start height) or _mcTMStartRemainingTime (Start remaining time).
2. Conditional 2: You can execute the next instruction only when TransitionMode (Transition Mode) is set to _mcTM-
StartRemainingTime (Start remaining time).
3. Error: An error is detected when the next instruction is executed and the axes stop immediately.
_mcTMStartHeight (Start Height)
If the TransitionMode (Transition Mode) input variable is set to _mcTMStartHeight (Start height), the
next instruction is blended with the current instruction.
The value of Transition Start Height set in the TransitionParameter (Transition Parameters) input vari-
able determines the blended part of the instruction.
Transition starts when the travel distance in Z axis direction exceeds the Transition Start Height in the
current instruction. The transition ends at the same time as the current instruction is completed only by
itself.
4 - 86
MC_Sync MC_Sync
Linear Linear
*1 *2
Conveyor Conveyor
Error Error
Error Error
MC_Group
MC_Sync
SyncMove
*3
Out
Absolute
Conditional 1 Error
Conditional 1 Error
NJ-series NJ Robotics CPU Unit User's Manual (W539)
MC_Robot
Jog
Error
Error