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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC
_SyncL
inearCo
nvey
or
4
F
unct
ion
Precautions for Safe Use
• Adjust the home of the robot before you start robot operation.
• Do not operate the robot outside the workspace when the workspace check function is dis-
abled. If you do so, the robot may be damaged.
• Use the MC_SyncOut (End Synchronization) instruction to stop the robot operated by the
MC_SyncLinearConveyor (Start Conveyor Synchronization) instruction.
• If you set 0 for the
MaxVelocity
(Velocity Error Detection Value) or
MaxAcceleration
(Acceler-
ation Error Detection Value) parameter for input variables, or if you use the default (0) of
these variables, the velocity error check or acceleration error check is not performed. Prop-
erly set
MaxVelocity
(Velocity Error Detection Value) and
MaxAcceleration
(Acceleration
Error Detection Value) to avoid an unexpected velocity and acceleration.
• If a robot tool (
ToolID
: 1 to 16) other than TCP0 is selected, checks for
MaxVelocity
(Velocity
Error Detection Value) and
MaxAcceleration
(Acceleration Error Detection Value) are not per-
formed at instruction execution.
Additional Information
Velocity errors and acceleration errors may not be detected at instruction execution.
Even if velocity errors and acceleration errors are not detected at instruction execution, they
may be detected while Phase 2 or Phase 4 is executed.
This is because the velocity that is detected is a blend of velocities in horizontal (X and Y axes)
direction and vertical (Z axis) direction.
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: ......