Omron NJ501-4300, Manual

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC
_SyncOut
4
F
unct
ion
• Use TrajData (Trajectory Data) to set the parameters for creating the trajectory for synchronization
cancellation.
• There are three types of SyncStopType (Synch Stop Type Selection): Immediate stop, Synchronized
stop , and Synchronized stop with Deceleration .
• When this instruction is executed with SyncStopType set to Immediate stop , the MC_SyncLinearCon-
veyor (Start Conveyor Synchronization) instruction operation is aborted and the subsequent com-
mand position creation is stopped.
• If you select Synchronized stop , you can execute this instruction only when Phase of the trajectory
status is 6.
The details on stopping operation and parameter setting are described below.
The following symbols are used in this description.
_sMC_SYNC_TRAJ_STATUS.Phase=6 means that Phase of the trajectory status is 6.
• The instruction creates command positions according to which the robot moves away from the cur-
rent position and reaches the (current position + H4) position on Z axis after the elapse of T4.
• When the operation switches from the MC_SyncLinearConveyor (Start Conveyor Synchronization)
instruction to the MC_SyncOut (End Synchronization) instruction, transition velocities are created
with command positions.
• If you select Synchronized stop with Deceleration , you can execute this instruction only when Phase
of the trajectory status is 6 too.
The details on stopping operation and parameter setting are described below.
• From the beginning of the execution, the instruction works as Synchronized Stop .
• When DecelerationTrigger is changed from FALSE to TRUE, the robot will finish synchronization
and start deceleration in X axis. The movement in X axis will be decelerated to stop, in the speci-
fied deceleration target time T5. The trajectory shape of deceleration is a Double-S with fixed
Jerk.
Setting Trajectory
Symbol Description
T4 Trajectory target time (unit: ms)
H4 The travel distance on the trajectory in Z axis direc-
tion in the machine coordinate system (unit: mm)
Symbol Description
T4 Trajectory target time on Z axis (unit: ms)
T5 Deceleration target time (unit: ms)
H4 The travel distance on the trajectory in Z axis direc-
tion in the machine coordinate system (unit: mm)
T4, H4
_sMC_SYNC_TRAJ_STATUS.Phase = 6
Z axis
X axis
MC_SyncLinearConveyor instruction MC_SyncOut instruction