Omron NJ501-4300, Руководство пользователя

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4 Robot Instructions
4 - 50 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
The following are the example of using rotation.
• Rotation transition1 (Initial Phase) = 2
• Rotation transition2 (Final Phase) = 4
• Rotation Rz from 0
°
to 45
°
• Synchronization Trajectory Type Selection = polynomial 3 curve
The following are the member variables of a _sMC_SYNC_TRAJ_REF data type variable.
 SyncTrajType
Select the trajectory type that is used to create the command position for synchronization with the
conveyor.
Details on _sMC_SYNC_TRAJ_REF
Name Data type Valid range Description
SyncTrajType _eMC_SYNC_
TRAJ_TYPE 0: _mcFlatTraj
2: _mcFlatTrajModSine
3: _mcFlatTrajModConstVel 0: Polynomic 3 Curve
2: Modified Sine Curve
3: Modified Constant Velocity Curve
Rz ( ° )
45
°
Position profile
0
°
VRz (
°
/s)
0 ° /s
Velocity profile
Ph.1 Ph.2 Ph.3
T1 × Ttrans1
T
1
T
2
T
3
Ph.4 Ph.5
T3 × Ttrans2
Ph.6
Initial Robot Position
(X, Y, Z, Rx, Ry, Rz)
Synchronization with
X, Y of a workpiece
Robot Position = Workpiece position (X, Y, Z, Rx, Ry, Rz)
InSync