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4 Robot Instructions
4 - 14
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
If an error occurs during instruction execution,
Error
will change to TRUE.
You can find out the cause of the error by referring to the value output by
ErrorID
(Error Code).
WorkspaceParam[5] to
[7] (Reserved)
LREAL
0
(Reserved)
Name
Data type
H-Bot
Valid range
Description
WorkspaceParam[0]
LREAL
Full Range
Origin of the workspace: X coordinate: X0 [mm]
WorkspaceParam[1]
LREAL
Full Range
Origin of the workspace: Y coordinate: Y0 [mm]
WorkspaceParam[2]
LREAL
Positive number
Workspace dimension on the X direction: DX [mm]
WorkspaceParam[3]
LREAL
Positive number
Workspace dimension on the Y direction: DY [mm]
WorkspaceParam[4] to
[7] (Reserved)
LREAL
0
(Reserved)
Timing Charts
Errors
Name
Data type
Cartesian2D
Valid range
Description
16#0000
Valid
Valid
Valid
Valid
Valid
Execute
Done
Busy
CommandAborted
Error
ErrorID
KinTransform
Workspace
MaxVelocityTCP
MaxAccelerationTCP
MaxDecelerationTCP
EnableWorkspace
Busy
Done
CommandAborted
Error
16#0000
ErrorID
Execute
Error Code
Summary of Contents for NJ501-4300
Page 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
Page 335: ......