Omron NJ501-4300, Manual

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_GroupMon
4
V
ar
iables
MC_GroupMon
The MC_GroupMon instruction reads the current position and current velocity of the robot.
This section describes the input variables, output variables and in-out variables for the MC_GroupMon
(Group Monitor) instruction.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_GroupMon Group
Monitor
FB
MC_GroupMon_instance (
AxesGroup :=
parameter ,
Enable := parameter ,
CoordSystem := parameter ,
CSID := parameter ,
ToolID := parameter ,
Valid => parameter ,
Busy => parameter ,
Error => parameter ,
ErrorID => parameter ,
Position => parameter ,
Velocity => parameter
);
Variables
Input Variables
Name Meaning Data type Valid range Default Description
Enable Enable BOOL TRUE or FALSE FALSE Starts reading the current value when this
variable changes to TRUE.
CoordSystem Coordinate
System
_eMC_RBT_
COORD_
SYSTEM 1: _mcRBT_MCS
3: _mcRBT_UCS 1 Select the coordinate system.
1: Machine coordinate system (MCS)
3: User coordinate system (UCS)
CSID Coordinate
System ID UINT 0 to 15 0 Select the user coordinate system number if
you select the user coordinate system (UCS).
ToolID Tool ID UINT 0 to 16 0 Select the ID of the robot tool that is moni-
tored.
MC_GroupMon_instance
AxesGroup AxesGroup
Enable
CoordSystem
CSID
ToolID
Error
ErrorID
Position
Velocity
MC_GroupMon
Valid
Busy