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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_Def
ineC
oo
rd
System
4
F
unct
ion
• This instruction sets user coordinate systems (UCS) for the specified robot (axes group).
• You can set up to 16 user coordinate systems (UCS) for each robot with
CSID
(Coordinate System
ID).
• The values that you set are retained when the operating mode of the CPU Unit changes to PRO-
GRAM mode.
• You can use the following robot instructions from one period after
Done
of this instruction changes to
TRUE.
• You can use this instruction only when the following condition is met.
The kinematics is already set with MC_SetKinTransform (Set Kinematics Transformation) instruc-
tion.
Precautions for Correct Use
User coordinate systems (UCS) are set in relation with a machine coordinate system (MCS).
If you re-execute the MC_SetKinTransform (Set Kinematics Transformation) instruction for a
robot, you must re-define all user coordinate systems for the robot.
Use the MC_DefineCoordSystem (Define Coordinate) instruction to set user coordinate sys-
tems.
The following are the member variables of a _sMC_COORD_REF data type variable.
2-3-3 User Coordinate System (UCS)
on page 2-29 as well.
CSID
Select the user coordinate system (UCS) number.
Function
Instruction
Name
MC_GroupMon
Group Monitor
MC_MoveTimeAbsolute
Time-specified Absolute Positioning
MC_SyncLinearConveyor
Start Conveyor Synchronization
MC_RobotJog
Axes Group Jog
Details on _sMC_COORD_REF
Name
Data type
Valid range
Description
Coordinate System ID UINT
0 to 15
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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: ......