Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 8 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
 _sMC_WORKSPACE_REF
 Output Variable Update Timing
Name Meaning Data type Valid range Description
WorkspaceType Workspace
Type Selection _eMC_
WORKSPACE_
TYPE 100: _mcDelta3 Workspace
101: _mcDelta2 Workspace
102: _mcCartesian3Dworkspace
*2
103: _mcCartesian2Dworkspace
*2
104: _mcHBotWorkspace
*2
Select the workspace type.
100: Delta3 or Delta3R
101: Delta2
102: Cartesian 3D
103: Cartesian 2D
104: H-Bot
WorkspaceParam Workspace
Parameters
ARRAY[0..7] OF
LREAL
---
Set the range of the work-
space.
*1
*1. Refer to Details on _sMC_WORKSPACE_REF on page 4-12 for details.
*2. Those workspace types are applicable only in Robot Version 1.03 or later.
Output Variables
Name Meaning Data type
Valid
range
Description
Done Done BOOL TRUE or
FALSE TRUE when the settings are completed.
Busy Executing BOOL TRUE or
FALSE TRUE when the instruction is acknowledged.
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.
Name Timing for changing to TRUE Timing for changing to FALSE
Done When the settings are completed successfully. • When Execute is TRUE and changes to
FALSE.
• After one period when Execute is FALSE.
Busy When Execute changes to TRUE. • When Done changes to TRUE.
• When Error changes to TRUE.
CommandAborted • When this instruction is canceled due to an error.
• When this instruction is executed while there is
an error.
• When Execute is TRUE and changes to
FALSE.
• After one period when Execute is FALSE.
Error When there is an error in the execution conditions
or input parameters for the instruction. When the error is cleared.