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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
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
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.
Содержание NJ501-4300
Страница 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
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