![background image](http://html1.mh-extra.com/html/omron/nj501-4300/nj501-4300_manual_742408107.webp)
4 - 3
4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
4-1
Ove
rvi
ew o
f Ro
bo
t In
struct
ion
s
4
4-
1-3 R
obot Exe
cution and
S
top Instru
ctions
Precautions for Correct Use
• If you execute instructions other than MC_GroupSetOverride (Set Group Overrides) instruc-
tion, an error occurs and the axes operation stops immediately. Refer to
of Motion Control Instructions
on page 4-84 for details.
• You cannot use the MC_WriteAxisParameter (Write Axis Parameters) instruction if the kine-
matics is set for the axes group.
Use the following instructions to execute or stop robot operation.
Use the following four instructions to start robot operation.
• MC_MoveTimeAbsolute (Time-specified Absolute Positioning) instruction
• MC_SyncLinearConveyor (Start Conveyor Synchronization) instruction
• MC_RobotJog (Axes Group Jog) instruction
• MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchronous Absolute Positioning) instruction
Use the following three instructions to stop robot operation.
• MC_SyncOut (End Synchronization) instruction
• MC_GroupStop (Group Stop) instruction
• MC_GroupImmediateStop (Axes Group Immediate Stop) instruction
If you execute the MC_GroupStop (Group Stop) instruction, the robot stops immediately regardless of
the input variable settings.
MC_MoveTimeAbsolute
Time-specified Absolute
Positioning
OK
---
MC_SyncLinearConveyor
Start Conveyor Synchronization
OK
---
MC_SyncOut
End Synchronization
OK
---
MC_InverseKin
Inverse Kinematics
OK
---
MC_RobotJog
Axes Group Jog
OK
---
*1. You can executable the instruction, but the set value will be invalid. The robot operation is not affected.
4-1-3
Robot Execution and Stop Instructions
Robot Execution Instructions
Robot Stop Instructions
Motion control instruction
Name
With kinematics
setting
Without kinematics
setting
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: ......