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4 Robot Instructions
4 - 76
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
• This instruction jogs the specified robot (axes group) at the velocity set in
Velocity
(Target Velocity).
• To jog the robot in the positive direction, change
PositiveEnable
(Positive Direction Enable) variables
to TRUE. To jog the robot in the negative direction, change
NegativeEnable
(Negative Direction
Enable) variables to TRUE.
• The robot can move in the directions along the axes (X, Y, Z) in the Cartesian coordinate system and
also in the rotation directions around the axes (Rx, Ry, Rz).
• Use Jog Mode Selection to select a coordinate system and an active TCP. Refer to
on page 2-34 for details on robot jogging.
• Robot jogging is a trapezoidal control which is performed according to the set velocity, acceleration
rate and deceleration rate.
• The
Enable
input variables vary depending on
KinType
(Kinematics Type Selection) as shown below.
Table above is based on machine coordinate system (MCS). When a user coordinate system is
used, positions of the axis for which Rotate Enable is set are transformed into positions in the
machine coordinate system. After the transformation, invalid values that are determined based on
this table are ignored.
In-Out Variables
Name
Meaning
Data type
Valid
range
Description
AxesGroup
Axes Group
_sGROUP_REF
---
Specify the axes group.
Function
PositiveEnable/NegativeEnable
Kinematics type
Name
Meaning
Delta3
Delta3R
Delta2
X
X Enable
Used
Used
Used
Y
Y Enable
Used
Used
Not used
Z
Z Enable
Used
Used
Used
RX
X Rotate Enable
Not used
Not used
Not used
RY
Y Rotate Enable
Not used
Not used
Not used
RZ
Z Rotate Enable
Not used
Used
Not used
PositiveEnable/
NegativeEnable
Kinematics type
Name
Cartesian 3D
Cartesian 3D-Gantry
Cartesian 2D
Cartesian 2D-Gantry
H-Bot
Plane XY
Plane XZ
Plane YZ
X
Used
Used
Used
Not used
Used
Y
Used
Used
Not used
Used
Used
Z
Used
Not used
Used
Used
Not used
RX
Not used
Not used
Not used
RY
Not used
Not used
Not used
RZ
Not used
Not used
Not used
Summary of Contents for NJ501-4300
Page 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
Page 335: ......