Omron NJ501-4300, Manual

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4 Robot Instructions
4 - 6 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_SetKinTransform
The MC_SetKinTransform instruction makes the axes group settings required for robot control. The set-
tings include the kinematics setting, workspace check setting, and maximum interpolation velocity set-
ting.
This section describes the input variables, output variables and in-out variables for the
MC_SetKinTransform (Set Kinematics Transformation) instruction.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_SetKinTransform Set Kinemat-
ics Transfor-
mation
FB
MC_SetKinTransform_instance (
AxesGroup :=
parameter ,
Execute := parameter ,
KinTransform := parameter ,
Workspace := parameter ,
EnableWorkspace := parameter ,
MaxVelocityTCP := parameter ,
MaxAccelerationTCP := parameter ,
MaxDecelerationTCP := parameter ,
Done => parameter ,
Busy => parameter ,
CommandAborted => parameter ,
Error => parameter ,
ErrorID => parameter
);
Variables
MC_SetKinTransform_instance
AxesGroup AxesGroup
Execute
KinTransform
Workspace
EnableWorkspace
MaxVelocityTCP
MaxAccelerationTCP
MaxDecelerationTCP
Error
ErrorID
CommandAborted
MC_SetKinTransform
Done
Busy