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4 Robot Instructions
4 - 24
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
_sMC_POSITION_REF
_sMC_VELOCITY_REF
Output Variable Update Timing
Output Variables
Name
Meaning
Data type
Valid
range
Description
Valid
Enabled
BOOL
TRUE or
FALSE
Position
(Current Position) and
Velocity
(Current
velocity) are valid when this variable is TRUE.
Busy
Executing
BOOL
TRUE or
FALSE
TRUE when the instruction is acknowledged.
Error
Error
BOOL
TRUE or
FALSE
TRUE while there is an error.
ErrorID
Error Code
WORD
*1
*1. Refer to
for details.
Contains the error code when an error occurs. A
value of 16#0000 indicates normal execution.
Position
Current
Position
_sMC_POSI-
TION_REF
---
Contains the values of the command current position
and actual current position.
The current positions are updated each period.
Velocity
Current Veloc-
ity
_sMC_VELOCI-
TY_REF
---
Contains the actual current velocity of TCP and the
axes.
Name
Meaning
Data type
Valid range
Description
Command
Position
Command Cur-
rent Position
ARRAY[0..5] OF
LREAL
Positive number, neg-
ative number or 0
The command current position of TCP in
the specified coordinate system.
*1
*1. Refer to
on page 4-26 for details.
Actual
Position
Actual Current
Position
ARRAY[0..5] OF
LREAL
Positive number, neg-
ative number or 0
The actual current position of TCP in the
specified coordinate system.
*1
Name
Meaning
Data type
Valid range
Description
Actual
VelocityTCP
Actual TCP
Current
Velocity
LREAL
Non-negative number The actual current velocity of TCP.
Actual
Velocity
Actual Current
Velocity
ARRAY[0..5] OF
LREAL
Positive number, neg-
ative number or 0
The actual current velocity of TCP on
axes in the specified coordinate system.
*1
*1. Refer to
on page 4-27 for details.
Name
Timing for changing to TRUE
Timing for changing to FALSE
Valid
When the current values are read successfully.
• When
Enable
changes to FALSE.
• When
Error
changes to TRUE.
Busy
When
Execute
changes to TRUE.
• When
Done
changes to TRUE.
• When
Error
changes to TRUE.
Error
When there is an error in the execution conditions
or input parameters for the instruction.
When the error is cleared.
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: ......