Omron NJ501-4300, Manual

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_Ro
bot
Jog
4
V
ar
iables
 Output Variable Update Timing
ToolID Tool ID UINT 0 to 16 0 Select the ID of the robot tool.
Output Variables
Name Meaning Data type
Valid
range
Description
Busy Executing BOOL TRUE or
FALSE TRUE when the instruction is acknowledged.
CommandAborted Command
Aborted BOOL TRUE or
FALSE TRUE when the instruction is aborted.
Error Error BOOL TRUE or
FALSE TRUE while there is an error.
ErrorID Error Code WORD
*1
*1. Refer to Section 6 Troubleshooting for details.
Contains the error code when an error occurs. A value
of 16#0000 indicates normal execution.
Name Timing for changing to TRUE Timing for changing to FALSE
Busy When Enable changes to TRUE. • When Error changes to TRUE.
• When all Enable variables change to FALSE.
CommandAborted • When this instruction is aborted because another
motion control instruction was executed with the
Buffer Mode set to
Aborting .
• When this instruction is canceled due to an error.
• When this instruction is executed while there is
an error.
• When you start this instruction during
MC_GroupStop instruction execution.
• When Enable is TRUE and changes to
FALSE.
• After one period when Enable is FALSE.
Error When there is an error in the execution conditions
or input parameters for the instruction. When the error is cleared.
Name Meaning Data type Valid range Default Description