Omron NJ501-4300, Manual

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
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MC_MoveTimeAbsolute
The MC_MoveTimeAbsolute instruction moves the robot to a specified absolute target position in the
specified time period.
This section describes the input variables, output variables and in-out variables for the
MC_MoveTimeAbsolute (Time-specified Absolute Positioning) instruction.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_MoveTimeAbsolute Time-specified
Absolute
Positioning
FB
MC_MoveTimeAbsolute_instance (
AxesGroup :=
parameter ,
Execute := parameter ,
Position := parameter ,
Direction := parameter ,
TrajData := parameter ,
CoordSystem := parameter ,
CSID := parameter ,
ToolID := parameter ,
BufferMode := parameter ,
TransitionMode := parameter ,
TransitionParameter := parameter ,
Done => parameter ,
Busy => parameter ,
Active => 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.
Position Target Posi-
tion ARRAY[0..5] OF
LREAL Positive number,
negative number or
0 0 Set the target position.
Direction Direction ARRAY[0..3] OF
_eMC_DIRECTION 0: _mcPositive
Direction
2: _mcNegative
Direction
4: _mcNoDirection 4 Set the travel direction.
0: Positive direction
2: Negative direction
4: No direction specified
TrajData Trajectory
Data _sMC_MOVE_
TRAJ_REF
--- ---
Set the parameters for creating the
command value used to move the
robot to a specified target position.
MC_MoveTimeAbsolute_instance
AxesGroup AxesGroup
Execute
Position
Direction
TrajData
CoordSystem
CSID
ToolID
BufferMode
TransitionMode
TransitionParameter
Error
ErrorID
MC_MoveTimeAbsolute
Done
Busy
Active
CommandAborted