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
F
unct
ion
Precautions for Correct Use
• If a PositiveEnable (Positive Direction Enable) variable and a NegativeEnable (Negative
Direction Enable) variable change from FALSE to TRUE at the same time, the PositiveEn-
able (Positive Direction Enable) variable takes priority and jogging is performed in the posi-
tive direction.
• If 180 ° or more is added to the axis command position in a control period, the calculation is
not performed correctly according to the kinematics algorithm. In such a cases, an error
occurs and the MC_RobotJog (Axes Group Jog) instruction is aborted.
It sets the target velocity for the selected robot components. It is divided in Velocity for X, Y and Z
(translation) and Velocity for RX, RY, and RZ (rotation):
Additional Information
If multiple TCP operations along each axes are enabled simultaneously, the velocity of TCP will
be higher than the target velocity set in
Velocity .
For example, if X, Y and Z axes are enabled simultaneously, the velocity of TCP will be Veloc-
ity[0] multiplied by
.
Acceleration input sets the acceleration rate to reach target velocity for the selected robot components.
It is divided in Acceleration for X, Y and Z (translation) and Acceleration for RX, RY, and RZ (rotation):
Deceleration input sets the deceleration rate to stop from target velocity for the selected robot compo-
nents. It is divided in Deceleration for X, Y and Z (translation) and Deceleration for RX, RY, and RZ
(rotation):
When the Acceleration (Acceleration Rate) or Deceleration (Deceleration Rate) is 0 and you start jog-
ging the selected component of the robot, the robot will reach the target velocity without accelerating or
decelerating.
Target Velocity
Name Data type Valid range Description
Velocity[0] LREAL Non-negative value Target velocity for components X, Y and Z.
[mm/s]
Velocity[1] LREAL Non-negative value Target velocity for components RX, RY and
RZ. [º/s]
Acceleration Rate and Deceleration Rate
Name Data type Valid range Description
Acceleration[0] LREAL Non-negative value Linear Acceleration rate for components X, Y
and Z. [mm/s
2
]
Acceleration [1] LREAL Non-negative value Rotation Acceleration rate for components
RX, RY and RZ. [º/s
2
]
Name Data type Valid range Description
Deceleration[0] LREAL Non-negative value Linear Deceleration rate for components X, Y
and Z. [mm/s
2
]
Deceleration [1] LREAL Non-negative value Rotation Deceleration rate for components
RX, RY and RZ. [º/s
2
]
3