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4 Robot Instructions
4 - 2
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
4-1
Overview of Robot Instructions
This section gives the list of the robot instructions, and the information on the axes group instructions
that you can execute with kinematics settings and on the instructions to start or stop robot operation.
In addition to the instructions that you can use with an NJ501-1
Unit, you can use the following
robot instructions with an NJ501-4
Unit.
The robot instructions are categorized as the axes group instructions.
Refer to the
NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508) for the
instructions that you can use with an NJ501-1
Unit.
The following table shows the axes group instructions that you can execute with the kinematics set-
tings. The axes group instructions that you cannot execute with the kinematics settings are also pro-
vided.
OK: Executable ---: An error occurs if you execute
4-1-1
List of Robot Instructions
Classifications
Motion control instruction
Instruction
Name
Robot Instructions
MC_SetKinTransform
Set Kinematics Transformation
MC_DefineCoordSystem
Define Coordinate System
MC_DefineToolTransform
Define Tool Transformation
MC_GroupMon
Group Monitor
MC_MoveTimeAbsolute
Time-specified Absolute Positioning
MC_SyncLinearConveyor
Start Conveyor Synchronization
MC_SyncOut
End Conveyor Synchronization
MC_InverseKin
Inverse Kinematics
MC_RobotJog
Robot Jog
4-1-2
Axes Group Instructions Enabled/disabled
Motion control instruction
Name
With kinematics
setting
Without kinematics
setting
MC_GroupEnable
Enable Axes Group
OK
OK
MC_GroupDisable
Disable Axes Group
OK
OK
MC_MoveLinear
Linear Interpolation
---
OK
MC_MoveLinearAbsolute
Absolute Linear Interpolation
---
OK
MC_MoveLinearRelative
Relative Linear Interpolation
---
OK
MC_MoveCircular2D
Circular 2D Interpolation
---
OK
MC_GroupStop
Group Stop
OK
OK
MC_GroupImmediateStop
Axes Group Immediate Stop
OK
OK
MC_GroupSetOverride
Set Group Overrides
OK
*1
OK
MC_GroupReadPosition
Read Axes Group Position
OK
OK
MC_ChangeAxesInGroup
Change Axes in Group
---
OK
MC_GroupSyncMoveAbsolute Axes Group Cyclic Synchronous
Absolute Positioning
OK
OK
MC_GroupReset
Group Reset
OK
OK
MC_SetKinTransform
Set Kinematics Transformation
OK
OK
MC_DefineCoodSystem
Define Coordinate
OK
---
MC_DefineToolTransform
Define Tool Coordinate
OK
---
MC_GroupMon
Group Monitor
OK
---
Содержание NJ501-4300
Страница 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
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