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4 - 15
4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_Def
ineC
oo
rd
System
4
V
ar
iables
MC_DefineCoordSystem
The MC_DefineCoordSystem instruction sets user coordinate systems (UCS) for the specified robot
(axes group).
This section describes the input variables, output variables and in-out variables for the
MC_DefineCoordSystem (Define Coordinate) instruction.
_sMC_COORD_REF
Instruction
Name
FB/
FUN
Graphic expression
ST expression
MC_DefineCoordSystem
Define
Coordinate
FB
MC_DefineCoordSystem_instance (
AxesGroup :=
parameter
,
Execute :=
parameter
,
CoordTransform :=
parameter
,
Done =>
parameter
,
Busy =>
parameter
,
CommandAborted =>
parameter
,
Error =>
parameter
,
ErrorID =>
parameter
);
Variables
Input Variables
Name
Meaning
Data type
Valid
range
Default
Description
Execute
Execute
BOOL
TRUE or
FALSE
FALSE
The instruction is executed when
Execute
changes to TRUE.
CoordTransform
Coordinate
Transformation
_sMC_COOR-
D_REF
---
---
Set the user coordinate system (UCS).
Name
Meaning
Data type
Valid range
Description
CSID
Coordinate
System ID
UINT
0 to 15
Select the user coordinate system (UCS)
number.
Pose
Pose
ARRAY[0..5] OF
LREAL
---
Set the pose of the user coordinate sys-
tem (UCS).
*1
*1. Refer to
on page 4-17 for details.
MC_DefineCoordSystem_instance
AxesGroup
AxesGroup
Execute
CoordTransform
Error
ErrorID
CommandAborted
MC_DefineCoordSystem
Done
Busy
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: ......