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4 Robot Instructions
4 - 82
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_GroupSyncMoveAbsolute
The MC_GroupSyncMoveAbsolute instruction cyclically outputs target positions in the axis coordinate
systems set for the axes.
For details on this instruction, refer to the
NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).
• This instruction is executed independently of the kinematics settings of the axes group.
• You can create an original trajectory for robot operation by using this instruction together with the
MC_InverseKin (Inverse Kinematics) instruction.
Use the following procedure to create the program.
1
Execute the MC_Power (Power Servo) instruction.
Turn ON the Servo for the robot axes.
2
Execute the MC_SetKinTransform (Set Kinematics Transformation) instruction.
Set the kinematics for the axes group.
3
Execute the MC_GroupEnable (Enable Axes Group) instruction.
Enable the axes group.
4
Calculate the trajectory.
Create the target positions (Xi, Yi, Zi) in the machine coordinate system (MCS).
After this, execute the calculation each period.
5
Execute the MC_InverseKin (Inverse Kinematics) instruction.
Transform the target position (Xi, Yi, Zi) into the target value (A0i, A1i, A2i) in the axis coordinate
system (ACS).
Instruction
Name
FB/
FUN
Graphic expression
ST expression
MC_GroupSyncMove
Absolute
Axes
Group
Cyclic Syn-
chronous
Absolute
Positioning
FB
MC_GroupSyncMoveAbsolute_instance (
AxesGroup :=
parameter
,
Execute :=
parameter
,
Position :=
parameter
,
CoordSystem :=
parameter
,
BufferMode :=
parameter
,
InPosition =>
parameter
,
Busy =>
parameter
,
Active =>
parameter
,
CommandAborted =>
parameter
,
Error =>
parameter
,
ErrorID =>
parameter
);
Function
MC_GroupSyncMoveAbsolute_instance
AxesGroup
AxesGroup
Execute
InPosition
Position
BufferMode
Error
ErrorID
CommandAborted
Active
MC_GroupSyncMoveAbsolute
CoordSystem
Busy
Содержание NJ501-4300
Страница 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
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