Omron NJ501-4300, Manual

Page: 143 / 336

4 - 39
4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC
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iables
TrajData Trajectory
Data _sMC_SYNC_
TRAJ_REF
--- ---
Set the parameters for creating the
command value used to move the
robot to a specified target position.
EnableOffset Offset
Enabled BOOL TRUE or FALSE FALSE Enables offset value setting.
Position
Offset Offset ARRAY[0..5] OF
LREAL Positive number,
negative number or
0 0 Set the offset value for the position
in the coordinate system.
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 coor-
dinate system (UCS).
ToolID Tool ID UINT 0 to 16 0 Select the ID of the robot tool.
BufferMode Buffer Mode
Selection _eMC_BUFFER_
MODE 0: _mcAborting
1: _mcBuffered
2: _mcBlending
Low
3: _mcBlending
Previous
4: _mcBlending
Next
5: _mcBlending
High 0 Select the operation that is per-
formed when more than one motion
instruction are executed.
0: Aborting
1: Buffered
2: Blending low
3: Blending previous
4: Blending next
5: Blending high
Transition
Mode
*2
Transition
Mode _eMC_
TRANSITION_
MODE 0: _mcTMNone
11: _mcTMStart
Height
12: _mcTMStart
RemainingTime 0 Select the trajectory of motion.
0: Transition disabled
11: Start height
12: Start remaining time
Transition
Parameter Transition
Parameters ARRAY[0..7] OF
LREAL Positive number,
negative number or
0 0
Set the transition parameters.
*3
*1. Refer to Workpiece Position Setting on page 4-44 for details.
*2. Refer to TransitionMode (Transition Mode) on page 4-56 for details.
*3. Refer to TransitionParameter (Transition Parameters) on page 4-57 for details.
Name Meaning Data type Valid range Default Description