Omron NJ501-4300, Руководство пользователя

Страница: 136 / 336

4 Robot Instructions
4 - 32 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
• This instruction moves the robot (axes group) from the current position to the target position specified
in the Position (Target Position) input variable.
• This instruction is completed when the set target time elapsed. An in-position check is not performed.
• 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) The Servo is already ON for all axes registered in the axes group.
d) The limit input is OFF for all axes registered in the axes group.
e) The axes group is enabled.
Precautions for Safe Use
• Adjust the home of the robot before you start robot operation.
• Do not operate the robot outside the workspace when the workspace check function is dis-
abled. If you do so, the robot may be damaged.
• If you set 0 for the MaxVelocity (Velocity Error Detection Value) or MaxAcceleration (Acceler-
ation Error Detection Value) parameter for input variables, or if you use the default (0) of
these variables, the velocity error check or acceleration error check is not performed. Prop-
erly set
MaxVelocity (Velocity Error Detection Value) and MaxAcceleration (Acceleration
Error Detection Value) to avoid an unexpected velocity and acceleration.
• If a robot tool ( ToolID : 1 to 16) other than TCP0 is selected, checks for MaxVelocity (Velocity
Error Detection Value) and MaxAcceleration (Acceleration Error Detection Value) are not per-
formed at instruction execution.
In-Out Variables
Name Meaning Data type
Valid
range
Description
AxesGroup Axes Group _sGROUP_REF --- Specify the axes group.
Function