Omron NJ501-4300, Руководство пользователя

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4 Robot Instructions
4 - 44 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
• InitWorkpiecePosition (Initial Workpiece Position) of the workpiece that is tracked by the robot is set
in the position in the machine coordinate system (MCS) or user coordinate system (UCS).
• If you select the user coordinate system (UCS), set the user coordinate system number in CSID
(Coordinate System ID).
• If this instruction is executed successfully, the workpiece position is updated as the conveyor axis
moves, and the command position is created for the updated workpiece position.
• If the workspace check is enabled and InitWorkpiecePosition (Initial Workpiece Position) is set out-
side the workspace, an error occurs and the axis stops. In the same way, the axis stops if the current
position is found outside the workspace.
 InitWorkpiecePosition
In this variable, set the workpiece current position at the point in time when the Conveyor Synchroni-
zation Start instruction is executed.
The current position you can set in InitWorkpiecePosition (Initial Workpiece Position) varies depend-
ing on KinType (Kinematics Type Selection) as shown below.
Workpiece Position Setting
Name Data type Valid range Description
InitWorkpiecePosition [0] LREAL Positive number,
negative num-
ber or 0 The current position of workpiece on X axis [mm]
InitWorkpiecePosition [1] LREAL Positive number,
negative num-
ber or 0 The current position of workpiece on Y axis [mm]
InitWorkpiecePosition [2] LREAL Positive number,
negative num-
ber or 0 The current position of workpiece on Z axis [mm]
InitWorkpiecePosition [3] LREAL
−
180.0 to 180.0 The current rotational position of workpiece
around X axis [degree]
InitWorkpiecePosition [4] LREAL − 180.0 to 180.0 The current rotational position of workpiece
around Y axis [degree]
InitWorkpiecePosition [5] LREAL
−
180.0 to 180.0 The current rotational position of workpiece
around Z axis [degree]
Position Kinematics type
Name Description Delta3 Delta3R Delta2
InitWorkpiecePosition [0] The current position of workpiece on X axis [mm] Valid Valid Valid
InitWorkpiecePosition [1] The current position of workpiece on Y axis [mm] Valid Valid Invalid
InitWorkpiecePosition [2] The current position of workpiece on Z axis [mm] Valid Valid Valid
InitWorkpiecePosition [3] The current rotational position of workpiece
around X axis [degree]
Invalid Invalid Invalid
InitWorkpiecePosition [4] The current rotational position of workpiece
around Y axis [degree]
Invalid Invalid Invalid
InitWorkpiecePosition [5] The current rotational position of workpiece
around Z axis [degree]
Invalid Valid Invalid