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