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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
4
After the elapse of (T1
+
T2
+
(T3
−
T3
×
Ttrans2)), the instruction compares the command
position (X, Y) and the actual current position (X, Y) of the workpiece.
If the difference is within the following range,
InSync
changes to TRUE. If the difference
exceeds the following range, an error occurs and the axis stops. At this moment, the Workpiece
Synchronization Excessive Following error (error code: 6702 hex) occurs.
If H1
<
0.0 and T1
>
0:
Motion control
period
Range of
difference
500
μ
s
0.1 mm max.
1 ms
0.1 mm max.
2 ms
0.2 mm max.
4 ms
0.4 mm max.
Symbol
Description
(A)
The current position of the robot
(B)
T1
×
Ttrans1
(C)
T1, H1
(D)
T2
(E)
T3
−
T3
×
Ttrans2
(F)
InSync
changes to TRUE when the position of the robot and the position of the
workpiece match.
(G)
T3
(H)
T3
×
Ttrans2
(I)
The trajectory for the workpiece which is not moved.
(J)
The trajectory for the workpiece which is in motion.
(K)
The range in which
InSync
is TRUE.
(L)
The range of MC_SyncLinearConveyor (Start Conveyor Synchronization) instruction
execution.
(A)
(B)
(C)
(D)
(E)
(G)
(H)
(J)
(F)
(K)
(L)
(I)
X axis
Z axis
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: ......