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4 Robot Instructions
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NJ-series NJ Robotics CPU Unit User’s Manual (W539)
The following are the member variables of a _sMC_POSITION_REF data type variable.
CommandPosition
This variable contains the command current position of TCP in the specified coordinate system.
The setting varies depending on
KinType
(Kinematics Type Selection) as shown below.
ActualPosition
This variable contains the actual current position of TCP in the specified coordinate system.
The setting varies depending on
KinType
(Kinematics Type Selection) as shown below.
Details on _sMC_POSITION_REF
Name
Data
type
Valid range
Description
CommandPosition [0]
LREAL
Positive number,
negative num-
ber or 0
The command current position on axis X [mm]
CommandPosition [1]
LREAL
Positive number,
negative num-
ber or 0
The command current position on axis Y [mm]
CommandPosition [2]
LREAL
Positive number,
negative num-
ber or 0
The command current position on axis Z [mm]
CommandPosition [3]
LREAL
Positive number,
negative num-
ber or 0
The command current rotational position around X axis
[degree]
CommandPosition [4]
LREAL
Positive number,
negative num-
ber or 0
The command current rotational position around Y axis
[degree]
CommandPosition [5]
LREAL
Positive number,
negative num-
ber or 0
The command current rotational position around Z axis
[degree]
Name
Data
type
Valid range
Description
ActualPosition [0]
LREAL
Positive number,
negative num-
ber or 0
The actual current position on X axis [mm]
ActualPosition [1]
LREAL
Positive number,
negative num-
ber or 0
The actual current position on Y axis [mm]
ActualPosition [2]
LREAL
Positive number,
negative num-
ber or 0
The actual current position on Z axis [mm]
ActualPosition [3]
LREAL
Positive number,
negative num-
ber or 0
The actual current rotational position around X axis
[degree]
ActualPosition [4]
LREAL
Positive number,
negative num-
ber or 0
The actual current rotational position around Y axis
[degree]
ActualPosition [5]
LREAL
Positive number,
negative num-
ber or 0
The actual current rotational position around Z axis
[degree]
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: ......