Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 38 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_SyncLinearConveyor
The MC_SyncLinearConveyor instruction moves the robot to track the specified workpiece on the con-
veyor. After catching up, the robot moves in synchronization with the workpiece.
This section describes the input variables, output variables and in-out variables for the MC_SyncLine-
arConveyor (Start Conveyor Synchronization) instruction.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_SyncLinearConveyor
Start Con-
veyor Syn-
chronization FB
MC_SyncLinearConveyor_instance (
AxesGroup :=
parameter ,
ConveyorAxis := parameter ,
Execute := parameter ,
InitWorkpiecePosition := parameter ,
Direction := parameter ,
TrajData := parameter ,
EnableOffset := parameter ,
PositionOffset := parameter ,
CoordSystem := parameter ,
CSID := parameter ,
ToolID := parameter ,
BufferMode := parameter ,
TransitionMode := parameter ,
TransitionParameter := parameter ,
InSync =>parameter,
Busy =>
parameter ,
Active => parameter ,
CommandAborted => parameter ,
Error => parameter ,
ErrorID => parameter ,
TrajStatus => parameter
);
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.
InitWorkpiece-
Position Initial
Workpiece
Position ARRAY[0..5] OF
LREAL Positive number,
negative number or
0 0 Set the target workpiece position at
the point in time when
synchronization with the conveyor
is started.
*1
Direction Direction ARRAY[0..3] OF
_eMC_
DIRECTION 0: _mcPositive
Direction
2: _mcNegative
Direction
4: _mcNoDirection 4 Set the travel direction.
0: Positive direction
2: Negative direction
4: No direction specified
MC_SyncLinearConveyor_instance
AxesGroup AxesGroup
ConveyorAxis ConveyorAxis
Execute
InitWorkpiecePosition
TrajData
Direction
CoordSystem
PositionOffset
EnableOffset
CSID
ToolID
BufferMode
TransitionMode
TransitionParameter
Error
ErrorID
TrajStatus
MC_SyncLinearConveyor
InSync
Busy
Active
CommandAborted