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4 Robot Instructions
4 - 62
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
• This instruction cancels ongoing robot (axes group) synchronization which is started by the MC_Syn-
cLinearConveyor (Start Conveyor Synchronization) instruction.
• This instruction is completed when the set target time elapsed. An in-position check is not performed.
• The workspace check is performed if it is enabled. If an error is detected, the axes group operation
stops.
Refer to
on page 2-23 for details on the workspace.
• While the command position is created, the command velocity and command acceleration rate that
are adjusted for the conveyor velocity are also created. The instruction checks whether or not these
values exceed
MaxVelocity
(Velocity Error Detection Value) or
MaxAcceleration
(Acceleration Error
Detection Value). If a specified limit is exceeded, an error occurs and the axis stops.
• You can use this instruction only when all the following conditions are met.
a) The kinematics is already set with MC_SetKinTransform (Set Kinematics Transformation)
instruction.
b) Home for all axes registered in the axes group are already defined.
c) The Servo is already ON for all axes registered in the axes group.
d) The limit input is OFF for all axes registered in the axes group.
e) The axes group is enabled.
f) If you select a synchronized stop,
Phase
of the trajectory status must be 6.
This is checked only when the instruction is executed.
g) If you select an immediate stop, MC_SyncLinearConveyor (Start Conveyor Synchronization)
instruction execution must be in progress.
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 use a different
instruction to stop, the robot does not decelerate smoothly.
• 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.
Function
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 ...
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