Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 74 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Positive
Enable_Y Y Positive
Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the Y axis positive
direction. When it changes to FALSE, the
robot stops moving.
Negative
Enable_Y Y Negative
Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the Y axis negative
direction. When it changes to FALSE, the
robot stops moving.
Positive
Enable_Z Z Positive
Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the Z axis positive
direction. When it changes to FALSE, the
robot stops moving.
Negative
Enable_Z Z Negative
Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the Z axis negative
direction. When it changes to FALSE, the
robot stops moving.
Positive
Enable_RX X Rotate Posi-
tive Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the positive rotation
direction around X axis. When it changes to
FALSE, the robot stops moving.
Negative
Enable_RX X Rotate Neg-
ative Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the negative rotation
direction around X axis. When it changes to
FALSE, the robot stops moving.
Positive
Enable_RY Y Rotate Posi-
tive Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the positive rotation
direction around Y axis. When it changes to
FALSE, the robot stops moving.
Negative
Enable_RY Y Rotate Neg-
ative Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the negative rotation
direction around Y axis. When it changes to
FALSE, the robot stops moving.
Positive
Enable_RZ Z Rotate Posi-
tive Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the positive rotation
direction around Z axis. When it changes to
FALSE, the robot stops moving.
Negative
Enable_RZ Z Rotate Neg-
ative Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the negative rotation
direction around Z axis. When it changes to
FALSE, the robot stops moving.
Velocity Target Velocity ARRAY[0..1] OF
LREAL
Non-negative
number 0 Set the target velocity.
(unit: mm/s or degree/s)
Acceleration Acceleration
Rate
ARRAY[0..1] OF
LREAL Non-negative
number 0 Set the target acceleration rate.
(unit: mm/s
2
or degree/s
2
)
Deceleration Deceleration
Rate
ARRAY[0..1] OF
LREAL Non-negative
number 0 Set the target deceleration rate.
(unit: mm/s
2
or degree/s
2
)
JogMode Jog Mode
Selection _eMC_JOG_
MODE 1: _mcMachine
Mode
2: _mcUserMode
3: _mcToolMode 1 Specify the Jog Mode.
1: TCPi of the machine coordinate system
(MCS)
2: TCPi of the user coordinate system
(UCS)
3: TCPi of the tool coordinate system (TCS)
CSID Coordinate
System ID UINT 0 to 15 0 Select the user coordinate system number
if you select the user coordinate system
(UCS).
Name Meaning Data type Valid range Default Description