Omron NJ501-4300, Руководство пользователя

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_GroupMon
4
F
unct
ion
• This instruction outputs the current position and current velocity in the selected coordinate system for
the specified robot (axes group) by performing the kinematics calculation with the current position
and current velocity in the axis coordinate system (ACS).
• The values of the Position (Current Position) and Velocity (Current Velocity) output variables are
retained when Enable changes from TRUE to FALSE.
• When the Valid (Enabled) output variable is TRUE, CommandPosition (Command Current Position)
varies as shown below depending on whether the axes group is enabled or disabled.
• When the Valid (Enabled) output variables is TRUE, the data of ActualPosition (Actual Current Posi-
tion), ActualVelocityTCP (Actual TCP Current Velocity) and ActualVelocity (Actual Current Velocity)
are updated each period regardless of whether the axes group is enabled or disabled.
• You can use this instruction only when all the following conditions are met.
a) The kinematics is already set with MC_SetKinTransform (Set Kinematics Transformation)
instruction.
b) Home for all axes registered in the axes group are already defined.
c) When you select the user coordinate system (UCS), you must previously set
CSID (Coordinate
System ID) used by the MC_DefineCoordSystem (Define Coordinate) instruction.
d) When you use the robot tool, you must previously set ToolID (Tool ID) used by the MC_Define-
ToolTransform (Define Tool Coordinate) instruction.
In-Out Variables
Name Meaning Data type
Valid
range
Description
AxesGroup Axes Group _sGROUP_REF --- Specify the axes group.
Function
Axes group
CommandPosition
(Command Current Position)
Enabled Updates data each period.
Disabled Retains the last data output before the axes
group is disabled.