Omron NJ501-4300, Manual

Page: 116 / 336

4 Robot Instructions
4 - 12 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Precautions for Correct Use
Robot types which are not in above tables do not use ExpansionParam . The values you set will
be ignored.
The following are the member variables of a _sMC_WORKSPACE_REF data type variable.
Refer to 2-3-1 Kinematics Setting on page 2-15 as well.
 WorkspaceType
Select the workspace type.
Name Data type
Cartesian3D Gantry and Cartesian2D Gantry
Valid range Description
ExpansionParam[0] LREAL -1.0 or Positive
Number
*1
*1. When input is -1.0, the axes position error check is disabled.
The maximum acceptable error of commanded posi-
tions between axes A0 and A1 (absolute value)
ExpansionParam[1] LREAL -1.0 or Positive
Number
*1
The maximum acceptable error of actual positions
between axes A0 and A1 (absolute value)
ExpansionParam[2]
to [7] (Reserved) LREAL 0 (Reserved)
Name Data type
H-Bot
Valid range Description
ExpansionParam[0] LREAL [0, 1, 2, 3] Type of H-Bot:
0: H-Bot type 1
1: H-Bot type 2
2: T-Bot type 1
3: T-Bot type 2
ExpansionParam[1]
to [7] (Reserved) LREAL 0 (Reserved)
Details on _sMC_WORKSPACE_REF
Name Data type Valid range Description
Workspace Type
Selection _eMC_
WORKSPACE_
TYPE 100: _mcDelta3 Workspace
101: _mcDelta2 Workspace
102: _mcCartesian3Dworkspace
*1
103: _mcCartesian2Dworkspace
*1
104: _mcHBotWorkspace
*1
*1. Those workspace types are applicable only in Robot Version 1.03 or later.
Select the workspace type.
100: Delta3 or Delta3R
101: Delta2
102: Cartesian 3D
103: Cartesian 2D
104: H-Bot