Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 20 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
 Output Variable Update Timing
Output Variables
Name Meaning Data type
Valid
range
Description
Done Done BOOL TRUE or
FALSE TRUE when the settings are completed.
Busy Executing BOOL TRUE or
FALSE TRUE when the instruction is acknowledged.
CommandAborted Command
Aborted BOOL TRUE or
FALSE TRUE when the instruction is aborted.
Error Error BOOL TRUE or
FALSE TRUE while there is an error.
ErrorID Error Code WORD
*1
*1. Refer to Section 6 Troubleshooting for details.
Contains the error code when an error occurs. A
value of 16#0000 indicates normal execution.
Name Timing for changing to TRUE Timing for changing to FALSE
Done When the settings are completed successfully. • When Execute is TRUE and changes to
FALSE.
• After one period when Execute is FALSE.
Busy When Execute changes to TRUE. • When Done changes to TRUE.
• When Error changes to TRUE.
CommandAborted • When this instruction is canceled due to an error.
• When this instruction is executed while there is
an error.
• When Execute is TRUE and changes to
FALSE.
• After one period when Execute is FALSE.
Error When there is an error in the execution conditions
or input parameters for the instruction. When the error is cleared.
In-Out Variables
Name Meaning Data type
Valid
range
Description
AxesGroup Axes Group _sGROUP_REF --- Specify the axes group.