Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 68 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_InverseKin
The MC_InverseKin instruction performs inverse kinematics transformation.
This section describes the input variables, output variables and in-out variables for the MC_InverseKin
(Inverse Kinematics) instruction.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_InverseKin
Inverse
Kinematics FB
MC_InverseKin_instance (
AxesGroup :=
parameter ,
Enable := parameter ,
Position := parameter ,
ToolID := parameter ,
Valid => parameter ,
Busy => parameter ,
Error => parameter ,
ErrorID => parameter ,
AxesPosition => parameter ,
OutWorkspace => parameter
);
Variables
Input Variables
Name Meaning Data type Valid range Default Description
Enable Enable BOOL TRUE or FALSE FALSE Transforms a target position into axes
target positions when
Enable changes
to TRUE.
Position Target Posi-
tion ARRAY[0..5] OF
LREAL Positive number,
negative number or 0 0 Set the target position in the machine
coordinate system (MCS).
*1
*1. Refer to Details on Position and AxesPosition on page 4-70 for details.
ToolID Tool ID UINT 0 to 16 0 Select the ID of the robot tool.
MC_InverseKin_instance
AxesGroup AxesGroup
Eable
Position
ToolID Error
ErrorID
AxesPosition
OutWorkspace
MC_InverseKin
Valid
Busy