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4 Robot Instructions
4 - 78
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Three jog modes are defined in the current specification (MACHINE, USER, and TOOL).
MACHINE (_mcMachineMode)
The selected TCP is moving along the Cartesian Coordinates of the machine coordinate system
(MCS). Rotations are performed around the tool coordinate system (TCS) of the selected tool. It is
the default jog mode.
USER (_mcUserMode)
The selected TCP is moving along the Cartesian Coordinates of the selected user coordinate system
(UCS). Rotations are performed around the tool coordinate system (TCS) of the selected robot tool.
TOOL (_mcToolMode)
The selected TCP is moving along the Cartesian coordinates of tool coordinate system (TCS). Rota-
tions are performed around the tool coordinate system (TCS) of the selected robot tool.
• If you select
_mcUserMode
(user mode) for
JogMode
(Jog Mode Selection), you need to set the user
coordinate system you use in
CSID
(Coordinate System ID). If you do not select
_mcUserMode
(user
mode) for
JogMode
(Jog Mode Selection), the variable
CSID
(Coordinate System ID) is ignored.
• The value that was set in
CSID
(Coordinate System ID) when
Enable
changed to TRUE is used while
this instruction is enabled. Operation is not affected even if a different value is set in
CSID
(Coordi-
nate System ID) while this instruction is enabled.
• The TCP which is operated with this instruction is a selected tool TCP in each JogMode.
• If ToolID is set to 0, default TCP (TCP0) is used.
• The value that was set in
ToolID
(Tool ID) when
Enable
changed to TRUE is used while this instruc-
tion is enabled. Operation is not affected even if you change the input value of
ToolID
(Tool ID) to
select a different tool while this instruction is enabled.
Jog Mode Selection
Coordinate System ID
Tool ID
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: ......