Omron NJ501-4300, Manual

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4 - 19
4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
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MC_DefineToolTransform
The MC_DefineToolTransform instruction sets tool coordinate systems (TCS) for the specified robot
(axes group).
This section describes the input variables, output variables and in-out variables for the
MC_DefineToolTransform (Define Tool Coordinate) instruction.
 _sMC_TOOL_COORD_REF
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_DefineToolTransform Define Tool
Coordinate
FB
MC_DefineToolTransform_instance (
AxesGroup :=
parameter ,
Execute := parameter ,
ToolTransform := parameter ,
Done => parameter ,
Busy => parameter ,
CommandAborted => parameter ,
Error => parameter ,
ErrorID => parameter
);
Variables
Input Variables
Name Meaning Data type
Valid
range
Default Description
Execute Execute BOOL TRUE or
FALSE FALSE The instruction is executed when Execute
changes to TRUE.
ToolTransform Transform Tool
Coordinate
System _sMC_TOOL_
COORD_REF
--- ---
Make the settings of the tool coordinate
system (TCS).
Name Meaning Data type Valid range Description
ToolID Tool ID UINT 1 to 16 Select the ID of the tool.
Pose Pose ARRAY[0..5] OF
LREAL
---
Set the pose of the tool coordinate system
(TCS).
*1
*1. Refer to Details on _sMC_TOOL_COORD_REF on page 4-21 for details.
MC_DefineToolTransform_instance
AxesGroup AxesGroup
Execute
ToolTransform
Error
ErrorID
CommandAborted
MC_DefineToolTransform
Done
Busy