Omron NJ501-4300, Руководство пользователя

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4 Robot Instructions
4 - 40 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
 _sMC_SYNC_TRAJ_REF
Name Meaning Data type Valid range Description
SyncTraj
Type Synchroniza-
tion Trajectory
Type Selection _eMC_SYNC_
TRAJ_TYPE 0: _mcFlatTraj
2: _mcFlatTrajMod
Sine
3: _mcFlatTrajMod
ConstVel Select the trajectory type that is used to
create the command position for synchro-
nization with the conveyor.
0: Polynomic 3 Curve
2: Modified Sine Curve
3: Modified Constant Velocity Curve
TrajTime Trajectory
Target Time ARRAY [0..7] OF
UINT
---
Set the time for creating the command
position used to move the robot from the
current position to the target position.
*1
*1. Refer to Details on _sMC_SYNC_TRAJ_REF on page 4-50 for details.
Traj
Transition Trajectory Tran-
sition ARRAY [0..7] OF
UINT
---
Set the percent of the time used for transi-
tion to the next motion.
*1
Traj
Distance Trajectory
Travel Distance ARRAY[0..7] OF
LREAL Positive number, neg-
ative number or 0 Set the travel distance between the cur-
rent position and the target position.
*1
MaxVelocity Velocity Error
Detection Value LREAL Non-negative number Set a velocity for which velocity errors are
detected during command position cre-
ation.
*2
*2. A velocity error indicates that the command velocity exceeded the specified value. If you set this variable to 0, velocity
errors are not detected.
Max
Acceleration Acceleration
Error Detection
Value LREAL Non-negative number Set an acceleration rate for which acceler-
ation errors are detected during command
position creation.
*3
*3. An acceleration error indicates that the command acceleration/deceleration rate exceeded the specified value. If you set
this variable to 0, acceleration errors are not detected.
Output Variables
Name Meaning Data type
Valid
range
Description
InSync In Sync BOOL TRUE or
FALSE TRUE when the robot TCP catches up the workpiece on
the conveyor.
Busy Executing BOOL TRUE or
FALSE TRUE when the instruction is acknowledged.
Active Controlling BOOL TRUE or
FALSE TRUE while control is in progress.
CommandAborted Command
Aborted BOOL TRUE or
FALSE TRUE when the instruction is aborted.
Error Error BOOL TRUE or
FALSE TRUE while there is an error.
ErrorID Error Code WORD
*1
*1. Refer to Section 6 Troubleshooting for details.
Contains the error code when an error occurs. A value
of 16#0000 indicates normal execution.
TrajStatus Trajectory
Status _sMC_SYN-
C_TRAJ_
STATUS
---
Contains the phase and the time remaining for creating
the command value.