Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 52 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
 MaxAcceleration
Set an acceleration rate for which acceleration errors are detected during command position cre-
ation.
An acceleration error indicates that the command acceleration/deceleration rate exceeded the spec-
ified value. If you set this variable to 0, acceleration errors are not detected.
• While the command position is created, the status information is output in the member variables of
_sMC_SYNC_TRAJ_STATUS (Trajectory Status).
InSync is TRUE if Phase is 5 or 6.
• In the case of that T1
−
T1
×
Ttrans1 is less than Primary Task cycle time, phase 2 is not performed.
The same happens for T3
−
T3
×
Ttrans2.
See the phase of MC_SyncLinearConveyor with transition at 100% on the following table.
Name Data type Valid range Description
MaxAcceleration LREAL Non-negative number
Unit: mm/s
2
Details on _sMC_SYNC_TRAJ_STATUS
Name
RemainTime Gives the remaining of the Trajectory Target Time (T1
+
T2
+
T3). This value is calculated by
a subtraction from the Trajectory Target Time (T1
+
T2
+
T3). (unit: ms)
Phase Phase0 to Phase6. Shows the phase in which trajectory calculation is in progress.
Phase0 The instruction is not executed.
Phase1 t
≤
Ttrans1
×
T1
Phase2 (Ttrans1
×
T1)
<
t
≤
T1
Phase3 T1
<
t
≤
(T1
+
T2)
Phase4 (T1
+
T2)
<
t
≤
(T1
+
T2
+
(T3
−
T3
×
Ttrans2))
Phase5 (T1 + T2 + (T3 − T3 × Ttrans2)) < t ≤ (T1 + T2 + T3)
Phase6 (T1
+
T2
+
T3)
<
t
Phase Description
Phase1 t ≤ T1
Phase2 (Not performed)
Phase3 (T1) < t ≤ (T1 + T2)
Phase4 (Not performed)
Phase5 (T1 + T2) < t ≤ (T1 + T2 + T3)
Phase6 (T1
+
T2
+
T3)
<
t
Phase1
Phase2
Phase3
Phase4
Phase5
Phase6