Omron NJ501-4300, Руководство пользователя

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4 Robot Instructions
4 - 30 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
 _sMC_MOVE_TRAJ_REF
CoordSystem Coordinate
System _eMC_RBT_
COORD_SYSTEM 1: _mcRBT_MCS
3: _mcRBT_UCS 1 Select the coordinate system.
1: Machine coordinate system
(MCS)
3: User coordinate system (UCS)
CSID Coordinate
System ID UINT 0 to 15 0 Select the user coordinate system
number if you select the user coor-
dinate system (UCS).
ToolID Tool ID UINT 0 to 16 0 Select the ID of the robot tool.
BufferMode
*1
Buffer Mode
Selection _eMC_BUFFER_-
MODE 0: _mcAborting
1: _mcBuffered
2: _mcBlending
Low
3: _mcBlending
Previous 0 Select the operation that is per-
formed when more than one motion
instruction are executed.
0: Aborting
1: Buffered
2: Blending low
3: Blending previous
Transition
Mode
*2
Transition
Mode _eMC_
TRANSITION_
MODE 0: _mcTMNone
11: _mcTMStart
Height
12: _mcTMStart
RemainingTime 0 Select the trajectory of motion.
0: Transition disabled
11: Start height
12: Start remaining time
Transition
Parameter Transition
Parameters ARRAY[0..7] OF
LREAL Positive number,
negative number or
0 0
Set the transition parameters.
*3
*1. Refer to BufferMode (Buffer Mode Selection) on page 4-35 for details.
*2. Refer to TransitionMode (Transition Mode) on page 4-35 for details.
*3. Refer to TransitionParameter (Transition Parameters) on page 4-36 for details.
Name Meaning Data type Valid range Description
MoveTraj
Type Motion Trajec-
tory Type
Selection _eMC_MOVE_
TRAJ_TYPE 0: _mcPolynomial3
1: _mcRBT_
ModifiedSine Select the trajectory type used to create the
command position for each axis.
0: Polynomic 3 Curve
1: Modified Sine Curve
TrajTime Trajectory Tar-
get Time UINT Positive number Set the time for creating the command position
used to move the robot from the current posi-
tion to the target position.
(unit: ms)
MaxVelocity Velocity Error
Detection Value LREAL Non-negative number Set a velocity for which velocity errors are
detected
*1
during command position creation.
(unit: mm/s)
*1. A velocity error indicates that the command velocity exceeded the specified value. If you set this variable to 0, velocity
errors are not detected.
Max
Acceleration Acceleration
Error Detection
Value LREAL Non-negative number Set an acceleration rate for which acceleration
errors are detected
*2
during command position
creation.
(unit: mm/s
2
)
*2. An acceleration error indicates that the command acceleration/deceleration rate exceeded the specified value. If you set
this variable to 0, acceleration errors are not detected.
Name Meaning Data type Valid range Default Description