4 Robot Instructions
4 - 64
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
• When velocity in X axis is 0 and the trigger is detected, the movement in X axis is not performed, but
the duration of T5 is waited to end the MC_SyncOut instruction.
Precautions for Correct Use
When Synchronized stop with Deceleration is selected and DecelerationTrigger remains
FALSE till the end of Trajectory target time T4, the movement in X axis stops without decelera-
tion.
Precautions for Safe Use
When Synchronized stop with Deceleration is selected and Deceleration target time T5 is set to
unexpected long time, the robot may reach out of the workspace during deceleration. Do not
disable workspace check.
Additional Information
If you select
_mcSyncStop
or
_mcSyncDecelerationStop
for
SyncStopType
and set the value of
H4 to 0, the robot performs synchronized motion according to the value of T4 and then stops.
Velocity in X axis
Acceleration in X
Jerk in X
Velocity in Z axis
T4
T5
Synchronization
Deceleration
MC_SyncOut
H4
DecelerationTrigger := TRUE
V
0
=V
conveyor
T
T
T
T
V
f
=0
Deceleration distance:
D
Decel
= (V
0
* T5) / 2
Maximum Deceleration rate:
Dec
Max
= 2* (V
0
/ T5)
J = D
Max
/ (T
5
/ 2)
Jerk is automatically calculated in order to increase
deceleration in the first half and decrease
deceleration in the second half to reach to velocity
= 0 at the end of deceleration target time T5.
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: ......