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4 Robot Instructions
4 - 60
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
This section describes the input variables, output variables and in-out variables for the MC_SyncOut
(End Synchronization) instruction.
_sMC_SYNCOUT_TRAJ_REF
*4. A CPU Unit with robot version 1.03 or later and Sysmac Studio version 1.15 or higher are required to use this sync stop
type. For any previous version combinations, this type does not exist.
Variables
Input Variables
Name
Meaning
Data type
Valid range
Default
Description
Execute
Execute
BOOL
TRUE or FALSE
FALSE
The instruction is executed when
Execute
changes to TRUE.
TrajData
Trajectory
Data
_sMC_SYNCO-
UT_TRAJ_REF
---
---
Set the parameters for canceling
synchronization.
Decelera-
tionTrigger
*1
*1. A CPU Unit with robot version 1.03 or later and Sysmac Studio version 1.15 or higher are required to use this variable.
For any previous version combinations, this variable does not exist.
Deceleration
Trigger
BOOL
TRUE or FALSE
FALSE
Finish synchronization and start
deceleration when
DecelerationTrigger
changes to
TRUE.
This variable is valid only when
Synchronization stop
with
Deceleration
is specified.
Name
Meaning
Data type
Valid range
Description
SyncStop
Type
Sync Stop Type
Selection
_eMC_SYNC_
STOP_TYPE
0: _mcSyncStop
1: _mcRBT_
ImmediateStop
2: _mcSync
DecelerationStop
*4
Select the trajectory type that is used to cre-
ate the command position for cancellation of
synchronization with the conveyor.
0: Synchronized stop
1: Immediate stop
2: Synchronized stop with Deceleration
TrajTime
Trajectory Target
Time
ARRAY [0..7]
OF UINT
---
Set the target time for a synchronized stop.
*1
*1. Refer to
Details on _sMC_SYNCOUT_TRAJ_REF
on page 4-65 for details.
Traj
Transition
(Reserved)
Trajectory Transi-
tion
ARRAY [0..7]
OF UINT
0
(Reserved)
Traj
Distance
Trajectory Travel
Distance
ARRAY[0..7]
OF LREAL
Positive number, neg-
ative number or 0
Set the travel distance between the current
position and the target position.
*1
MaxVelocity
Velocity Error
Detection Value
LREAL
Non-negative number Set a velocity for which velocity errors are
detected
*2
during command position creation.
(unit: mm/s)
*2. A velocity error indicates that the command velocity exceeded the specified value. If you set this variable to 0, velocity
errors are not detected.
Max
Acceleration
Acceleration Error
Detection Value
LREAL
Non-negative number Set an acceleration rate for which accelera-
tion errors are detected
*3
during command
position creation.
(unit: mm/s
2
)
*3. An acceleration error indicates that the command acceleration/deceleration rate exceeded the specified value. If you set
this variable to 0, acceleration errors are not detected.
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: ......