Omron NJ501-4300, Manual

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_Ro
bot
Jog
4
V
ar
iables
MC_RobotJog
The MC_RobotJog instruction jogs the axes group according to the specified target velocity.
This section describes the input variables, output variables and in-out variables for the MC_RobotJog
(Axes Group Jog) instruction.
Instruction Name
FB/
FUN
Graphic expression ST expression
MC_RobotJog
Axes
Group Jog FB
MC_RobotJog_instance (
AxesGroup :=
parameter ,
PositiveEnable_X := parameter ,
NegativeEnable_X := parameter ,
PositiveEnable_Y := parameter ,
NegativeEnable_Y := parameter ,
PositiveEnable_Z := parameter ,
NegativeEnable_Z := parameter ,
PositiveEnable_RX := parameter ,
NegativeEnable_RX := parameter ,
PositiveEnable_RY := parameter ,
NegativeEnable_RY := parameter ,
PositiveEnable_RZ := parameter ,
NegativeEnable_RZ := parameter ,
Velocity := parameter ,
Acceleration := parameter ,
Deceleration := parameter ,
JogMode := parameter ,
CSID := parameter ,
ToolID := parameter ,
Busy => parameter ,
CommandAborted => parameter ,
Error => parameter ,
ErrorID => parameter
);
Variables
Input Variables
Name Meaning Data type Valid range Default Description
Positive
Enable_X X Positive
Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the X axis positive
direction. When it changes to FALSE, the
robot stops moving.
Negative
Enable_X X Negative
Enable BOOL TRUE or FALSE FALSE When this variable changes to TRUE, the
robot starts moving in the X axis negative
direction. When it changes to FALSE, the
robot stops moving.
MC_RobotJog_instance
AxesGroup AxesGroup
PositiveEnable_X
NegativeEnable_X
PositiveEnable_Y
NegativeEnable_Y
PositiveEnable_Z
NegativeEnable_Z
PositiveEnable_RX
NegativeEnable_RX
PositiveEnable_RY
NegativeEnable_RY
PositiveEnable_RZ
NegativeEnable_RZ
Velocity
Acceleration
Deceleration
JogMode
CSID
ToolID
Error
ErrorID
MC_RobotJog
CommandAborted
Busy