Omron NJ501-4300, Manual

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC
_SyncOut
4
MC_SyncOut
The MC_SyncOut instruction cancels synchronization with the conveyor.
Version Information
To use this instruction in CPU Unit version 1.11 or later with an existing project whose CPU Unit
version is 1.10 or before, user has to update the ladder programs as follows:
1. Operate
Change Device to change Version of CPU Unit to 1.11 or later.
2. In the ladder program, user has to right-click the existing MC_SyncOut instruction and select
Update to display DecelerationTrigger . Without this operation, Sysmac Studio will report
errors in building the project.
3. In ST program, user does not need to do anything. If DecelerationTrigger is not specified, it is
maintained to the default value FALSE, so deceleration is never triggered.
Conversely, to use this instruction in CPU Unit version 1.10 or before with an existing project
whose CPU Unit version is 1.11 or later, user has to update the ladder programs to remove
DecelerationTrigger input and rebuild them from Sysmac Studio.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_SyncOut
End Syn-
chronization FB
MC_SyncOut_instance (
AxesGroup :=
parameter ,
Execute := parameter ,
TrajData := parameter ,
DecelerationTrigger := parameter ,
*1
Done => parameter ,
Busy => parameter ,
CommandAborted => parameter ,
Error => parameter ,
ErrorID => parameter
);
*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.
MC_SyncOut_instance
AxesGroup AxesGroup
Execute
TrajData
DecelerationTrigger *1
Error
ErrorID
MC_SyncOut
Done
Busy
CommandAborted