Omron NJ501-4300, Руководство пользователя

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_In
verseKin
4
F
unct
ion
 Output Variable Update Timing
• This instruction transforms Position (Target Position) in the machine coordinate system (MCS) into
axes target positions in the axis coordinate systems (ACS).
• If Position (Target Position) is outside the workspace, OutWorkspace (Outside Workspace) changes
to TRUE regardless of workspace is enabled or disabled.
• Valid (Enabled) changes to TRUE when transformation of Position (Target Position) into axes target
positions in the axis coordinate systems (ACS) is completed.
• You can use this instruction only when the following condition is met.
The kinematics is already set with MC_SetKinTransform (Set Kinematics Transformation) instruc-
tion.
Output Variables
Name Meaning Data type Valid range Description
Valid Enabled BOOL TRUE or FALSE AxesPosition (Axes Target Position) is valid
when this variable is TRUE. Axes target positions
are updated each period.
Busy Executing BOOL TRUE or FALSE TRUE when the instruction is acknowledged.
Error Error BOOL TRUE or FALSE TRUE while there is an error.
ErrorID Error Code WORD
*1
*1. Refer to Section 6 Troubleshooting for details.
Contains the error code when an error occurs. A
value of 16#0000 indicates normal execution.
AxesPosition Axes Target
Position ARRAY[0..5]
OF LREAL Positive number, neg-
ative number or 0 Contains axes target positions that are trans-
formed from a target position in the machine
coordinate system (MCS).
*2
*2. Refer to Details on Position and AxesPosition on page 4-70 for details.
OutWorkspace Outside Work-
space
BOOL TRUE or FALSE TRUE when the target position is outside the
workspace.
Name Timing for changing to TRUE Timing for changing to FALSE
Valid When kinematics transformation is completed suc-
cessfully. • When Error changes to TRUE.
• When Enable is FALSE.
Busy When Execute changes to TRUE. • When Enable changes to FALSE.
• When Error changes to TRUE.
Error When there is an error in the execution conditions
or input parameters for the instruction. When the error is cleared.
OutWorkspace When the target position is outside the workspace. • When the target position is within the work-
space.
• When Enable is FALSE.
• When Error changes to TRUE.
In-Out Variables
Name Meaning Data type
Valid
range
Description
AxesGroup Axes Group _sGROUP_REF --- Specify the axes group.
Function