Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 18 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
 Pose
Set the pose of the user coordinate system (UCS).
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).
Name Data type Valid range Description
Pose [0] LREAL Positive number, neg-
ative number or 0 The origin position of the user coordinate
system viewed from the origin of X axis of
the machine coordinate system: Tx [mm]
Pose [1] LREAL Positive number, neg-
ative number or 0 The origin position of the user coordinate
system viewed from the origin of Y axis of
the machine coordinate system: Ty [mm]
Pose [2] LREAL Positive number, neg-
ative number or 0 The origin position of the user coordinate
system viewed from the origin of Z axis of
the machine coordinate system: Tz [mm]
Pose [3] LREAL
−
180.0 to 180.0 The rotation around X axis of the user
coordinate system: Rx [degree]
Pose [4] LREAL − 90.0 to 90.0 The rotation around Y axis of the user
coordinate system: Ry [degree]
Pose [5] LREAL
−
180.0 to 180.0 The rotation around Z axis of the user
coordinate system: Rz [degree]
Timing Charts
Errors
16#0000
Execute
Done
Busy
CommandAborted
Error
ErrorID
CoordTransform
Busy
Done
CommandAborted
Error
16#0000
ErrorID
Execute
Error Code