Omron NJ501-4300, Manual

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_GroupMon
4
F
unct
ion
The following are the member variables of a _sMC_VELOCITY_REF data type variable.
 ActualVelocityTCP
This variable contains the actual current velocity of TCP.
The TCP velocity is obtained from the following equation.

ActualVelocity
This variable contains the actual current velocity of TCP on axes in the specified coordinate system.
The setting varies depending on KinType (Kinematics Type Selection) as shown below.
Details on _sMC_VELOCITY_REF
Name
Data
type
Valid range
Description
Delta3/Delta2 Delta3R
ActualVelocityTCP LREAL Non-negative
number Unit: mm/s
Name
Data
type
Valid range Description
ActualVelocity [0] LREAL Positive number,
negative num-
ber or 0 The actual current velocity on X axis: Vx [mm/s]
ActualVelocity [1] LREAL Positive number,
negative num-
ber or 0 The actual current velocity on Y axis: Vy [mm/s]
ActualVelocity [2] LREAL Positive number,
negative num-
ber or 0 The actual current velocity on Z axis: Vz [mm/s]
ActualVelocity [3] LREAL Positive number,
negative num-
ber or 0 The actual current rotational velocity around X axis:
VRx [degree/s]
ActualVelocity [4] LREAL Positive number,
negative num-
ber or 0 The actual current rotational velocity around Y axis:
VRy [degree/s]
ActualVelocity [5] LREAL Positive number,
negative num-
ber or 0 The actual current rotational velocity around Z axis:
VRz [degree/s]
V
TCP
Vx
2
Vy
2
Vz
2
+ +
=