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4 Robot Instructions
4 - 50
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
The following are the example of using rotation.
• Rotation transition1 (Initial Phase) = 2
• Rotation transition2 (Final Phase) = 4
• Rotation Rz from 0
°
to 45
°
• Synchronization Trajectory Type Selection = polynomial 3 curve
The following are the member variables of a _sMC_SYNC_TRAJ_REF data type variable.
SyncTrajType
Select the trajectory type that is used to create the command position for synchronization with the
conveyor.
Details on _sMC_SYNC_TRAJ_REF
Name
Data type
Valid range
Description
SyncTrajType
_eMC_SYNC_
TRAJ_TYPE
0: _mcFlatTraj
2: _mcFlatTrajModSine
3: _mcFlatTrajModConstVel
0: Polynomic 3 Curve
2: Modified Sine Curve
3: Modified Constant Velocity Curve
Rz (
°
)
45
°
Position profile
0
°
VRz (
°
/s)
0
°
/s
Velocity profile
Ph.1
Ph.2
Ph.3
T1
×
Ttrans1
T
1
T
2
T
3
Ph.4 Ph.5
T3
×
Ttrans2
Ph.6
Initial Robot Position
(X, Y, Z, Rx, Ry, Rz)
Synchronization with
X, Y of a workpiece
Robot Position = Workpiece position (X, Y, Z, Rx, Ry, Rz)
InSync
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: ......