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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC
_SyncL
inearCo
nvey
or
4
V
ar
iables
_sMC_SYNC_TRAJ_STATUS
Details on _sMC_SYNC_TRAJ_STATUS
on page 4-52 for details.
Output Variable Update Timing
Name
Meaning
Data type
Valid range
Description
RemainTime
Remaining
Time
UINT
Non-negative number Contains the remaining time for creating the
command value.
Phase
Phase
UINT
0 to 6
Contains the command position expressed as a
value of a position on the trajectory.
Name
Timing for changing to TRUE
Timing for changing to FALSE
InSync
When the command current position matches
*1
the
actual current position of the workpiece after the
elapse of the trajectory target time.
*1. Refer to
on page 4-45 for details on position matching.
• When
Error
changes to TRUE.
• When
CommandAborted
changes to TRUE.
Busy
When
Execute
changes to TRUE.
• When
Done
changes to TRUE.
• When
Error
changes to TRUE.
• When
CommandAborted
changes to TRUE.
Active
When the axes move.
• When
Done
changes to TRUE.
• When
Error
changes to TRUE.
• When
CommandAborted
changes to TRUE.
CommandAborted
• When this instruction is aborted because another
motion control instruction was executed with the
Buffer Mode set to
Aborting
.
• When this instruction is canceled due to an error.
• When this instruction is executed while there is an
error.
• When you start this instruction during MC_Group-
Stop instruction execution.
• When
Execute
is TRUE and changes to
FALSE.
• After one period when
Execute
is FALSE.
Error
When there is an error in the execution conditions or
input parameters for the instruction.
When the error is cleared.
Summary of Contents for NJ501-4300
Page 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
Page 335: ......