JumpTLZ Statement

3D gate motion.
This command is for the N series only.
JumpTLZ is a combination of two CP motions and one PTP motion.

Syntax
JumpTLZ
destination, TLZ movement [, CarchNumber] [, CP] [, LJM [, orientationFlag]] [, Sense | Till | Find] [, !Parallel Processing!] [, SYNC]

Parameters

destination

Specifies the point at which the target coordinates of the operation are to be reached.

TLZ movement

Specify the amount of movement in Z direction in Tool coordinate system. The is unit is [mm]. The Tool coordinate system for the currently used Tool number is used.

archNumber

The arch number (archNumber) specifies which Arch Table entry to use for the Arch type motion caused by the JumpTLZ instruction. archNumber must always be proceeded by the letter C. (Valid entries are C0 to C7.) The arch number is optional.

CP

Specify the path motion. Optional.

LJM

Convert the target destination using LJM function. Optional.

orientationFlag

Specify a parameter that selects an orientation flag for LJM function. Optional.

Sense | Till | Find

Optional. A Sense, Till or Find expression.

Sense | Till | Find
Sense Sw(expr) = {On | Off}
Till Sw(expr) = {On | Off}
Find Sw(expr) = {On | Off}

! Parallel Processing !

Parallel Processing statements can be added to the Jump3 and Jump3CP instruction to cause I/O and other commands to execute during motion.

SYNC

Reserves a motion command. The robot will not move until SyncRobots is executed.

Description
Moves the arm from the current position to the destination point with 3D gate motion. 3D gate motion consists of depart motion, span motion, and approach motion. The depart motion form the current position to the depart point is always CP motion. The span motion from the depart point to the start approach point is PTP motion.

The depart point is a point moved from the current position with TLZ amount in the Z direction. The robot posture at the depart point is same as the current position. (Posture may change if the robot passes the singularity or singularity neighborhood.)

The approach point is a point moved from the depart point in X and Y direction of the Tool coordinate system with move amount to approach to the destination point. The U, V, and W coordinates and the robot posture at the depart point and are the same as the current position. (Posture may change if the robot passes the singularity or singularity neighborhood)

Symbol	Description
a	Current position
b	Depart motion CP
c	depart
d	Span motion PTP
e	approach
f	Approach motion CP
g	Destination point

Arch motion is achieved by specifying the arch number. For arch motion to occur, the Depart distance must be greater than the arch upward distance and the Approach distance must be greater than the arch downward distance.

Symbol	Description
a	Depart Distance
b	ARCH Upward
c	depart
d	approach
e	Approach Distance
f	ARCH downward

Notes

LimZ does not affect JumpTLZ

LimZ has no effect on JumpTLZ since the span motion is not necessarily perpendicular to the Z axis of the coordinate system.
JumpTLZ span motion is PTP (point to point)

It is difficult to predict JumpTLZ span motion trajectory. Therefore, be careful that the robot doesn't collide with peripheral equipment and that robot arms don’t collide with the robot.
Difference between JumpTLZ and Jump3

JumpTLZ and Jump3 are different in the following points.
- JumpTLZ:
  - The depart point must be in the Z direction from the current position.
  - The approach point must be in the Z direction from the destination point.
  - Also, the approach distance cannot be specified.
  - Different Tool coordinate systems cannot be selected for the depart, approach, and destination points. (It is not possible to execute the depart motion in Tool1, and execute the approach motion in Tool2.)
- Jump3:
  - The depart point can be anywhere.
  - The approach point can be anywhere.
  - Different Tool coordinate systems can be selected for the depart, approach, and destination points. (It is possible to execute the depart motion in Tool1, and execute the approach motion in Tool2.)
Applicable manipulators

JumpTLZ is only available for N series.

Caution for Arch motion
JumpTLZ motion trajectory is comprised of depart, span, and approach motions. It is not a continuous path trajectory. The actual JumpTLZ trajectory of arch motion is not determined by Arch parameters alone. It also depends on motion and speed. Always use care when optimizing JumpTLZ trajectory in your applications.

Execute JumpTLZ with the desired motion and speed to verify the actual trajectory. When speed is lower, the trajectory will be lower. If JumpTLZ is executed with high speed to verify an arch motion trajectory, the end effector may crash into an obstacle with lower speed.
In a JumpTLZ trajectory, the depart distance increases and the approach distance decreases when the motion speed is set high. When the approach distance of the trajectory is shorter than the expected, lower the speed and/or the deceleration, or change the approach distance to be larger.
Even if JumpTLZ commands with the same distance and speed are executed, the trajectory is affected by motion of the robot arms.

Potential acceleration errors

When the majority of depart (approach) motion uses the same joint as the span motion

An acceleration error may occur during an arch motion execution by the JumpTLZ command. This error is issued frequently when the majority of the motion during depart or approach uses the same joint as the span motion. To avoid this error, reduce the acceleration/deceleration speed of the span motion using Accel command for JumpTLZ. Depending on the motion and orientation of the robot, it may also help to reduce the acceleration and deceleration of the depart motion (approach motion) using the AccelS command.

See Also
Accel, Arc, Arch, Go, JS, JT, Point Expression, Pulse, Sense, Speed, Stat, Till

JumpTLZ Example

Move 100 mm upward from the current point in Z direction of the Tool coordinate system. Then, move to the target point (P0):

JumpTLZ  P0, -100

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