Omron NJ501-4300, Manual

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
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 TrajTime
Set the time for creating the command position used to move the robot from the current position to
the target position.
 TrajTransition
Set the percent of the time used for transition to the next motion.
Precautions for Correct Use
When you use the Delta3R, set both TrajTransition [2] and TrajTransition [3] to the values other
than 0 to enable the rotation of the Delta3R wrist axis.
If both values are set to 0, the rotation of the wrist axis is disabled. If one of the values is set to
0, an error occurs.
 TrajDistance
Set the travel distance between the current position and the target position.
 MaxVelocity
Set a velocity for which velocity errors are detected during command position creation.
A velocity error indicates that the command velocity exceeded the specified value. If you set this
variable to 0, velocity errors are not detected.
Name Data type Valid range Description
TrajTime [0] UINT Non-negative number T1 [ms]
TrajTime [1] UINT Positive number T2 [ms]
TrajTime [2] UINT Positive number T3 [ms]
TrajTime [3] to [7] (Reserved) UINT 0 (Reserved)
Name Data type Valid range Description
TrajTransition [0] UINT 1 to 100 Ttrans1 [%]
TrajTransition [1] UINT 1 to 100 Ttrans2 [%]
TrajTransition [2] UINT 0 to 4 Rotation transition1 (Initial Phase)
TrajTransition [3] UINT 0 to 4 Rotation transition2 (Final Phase)
TrajTransition [4] to [7]
(Reserved) UINT 0 (Reserved)
Name Data type Valid range Description
TrajDistance [0] LREAL Positive number, nega-
tive number or 0 The travel distance on the trajectory in Z
axis direction in the machine coordinate
system: H1 [mm]
TrajDistance [1] to [7]
(Reserved) LREAL 0 (Reserved)
Name Data type Valid range Description
MaxVelocity LREAL Non-negative number Unit: mm/s