Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 82 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_GroupSyncMoveAbsolute
The MC_GroupSyncMoveAbsolute instruction cyclically outputs target positions in the axis coordinate
systems set for the axes.
For details on this instruction, refer to the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).
• This instruction is executed independently of the kinematics settings of the axes group.
• You can create an original trajectory for robot operation by using this instruction together with the
MC_InverseKin (Inverse Kinematics) instruction.
Use the following procedure to create the program.
1
Execute the MC_Power (Power Servo) instruction.
Turn ON the Servo for the robot axes.
2
Execute the MC_SetKinTransform (Set Kinematics Transformation) instruction.
Set the kinematics for the axes group.
3
Execute the MC_GroupEnable (Enable Axes Group) instruction.
Enable the axes group.
4
Calculate the trajectory.
Create the target positions (Xi, Yi, Zi) in the machine coordinate system (MCS).
After this, execute the calculation each period.
5
Execute the MC_InverseKin (Inverse Kinematics) instruction.
Transform the target position (Xi, Yi, Zi) into the target value (A0i, A1i, A2i) in the axis coordinate
system (ACS).
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_GroupSyncMove
Absolute
Axes
Group
Cyclic Syn-
chronous
Absolute
Positioning FB
MC_GroupSyncMoveAbsolute_instance (
AxesGroup :=
parameter ,
Execute := parameter ,
Position := parameter ,
CoordSystem := parameter ,
BufferMode := parameter ,
InPosition => parameter ,
Busy => parameter ,
Active => parameter ,
CommandAborted => parameter ,
Error => parameter ,
ErrorID => parameter
);
Function
MC_GroupSyncMoveAbsolute_instance
AxesGroup AxesGroup
Execute InPosition
Position
BufferMode
Error
ErrorID
CommandAborted
Active
MC_GroupSyncMoveAbsolute
CoordSystem
Busy