Omron NJ501-4300, Руководство пользователя

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4 Robot Instructions
4 - 78 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Three jog modes are defined in the current specification (MACHINE, USER, and TOOL).
 MACHINE (_mcMachineMode)
The selected TCP is moving along the Cartesian Coordinates of the machine coordinate system
(MCS). Rotations are performed around the tool coordinate system (TCS) of the selected tool. It is
the default jog mode.
 USER (_mcUserMode)
The selected TCP is moving along the Cartesian Coordinates of the selected user coordinate system
(UCS). Rotations are performed around the tool coordinate system (TCS) of the selected robot tool.
 TOOL (_mcToolMode)
The selected TCP is moving along the Cartesian coordinates of tool coordinate system (TCS). Rota-
tions are performed around the tool coordinate system (TCS) of the selected robot tool.
• If you select _mcUserMode (user mode) for JogMode (Jog Mode Selection), you need to set the user
coordinate system you use in CSID (Coordinate System ID). If you do not select _mcUserMode (user
mode) for JogMode (Jog Mode Selection), the variable CSID (Coordinate System ID) is ignored.
• The value that was set in CSID (Coordinate System ID) when Enable changed to TRUE is used while
this instruction is enabled. Operation is not affected even if a different value is set in CSID (Coordi-
nate System ID) while this instruction is enabled.
• The TCP which is operated with this instruction is a selected tool TCP in each JogMode.
• If ToolID is set to 0, default TCP (TCP0) is used.
• The value that was set in
ToolID (Tool ID) when Enable changed to TRUE is used while this instruc-
tion is enabled. Operation is not affected even if you change the input value of ToolID (Tool ID) to
select a different tool while this instruction is enabled.
Jog Mode Selection
Coordinate System ID
Tool ID