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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
4-3 S
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4
4-3
State Transitions of Robot Instruc-
tions
The following figure shows the axes group status (_MC_GRP[0-31].Status) during robot instruction exe-
cution.
The state transition of robot instructions are the same as that of the instructions for NJ501-1
Units.
*1. Sets the kinematics transformation data for the axes group. You can use the robot instruction after this step.
*2. The axes group enters a
Standby
state if the
Done
output variable from the MC_GroupStop (Group Stop)
instruction is TRUE and the
Execute
input variable to the same instruction is FALSE.
*3. If the MC_GroupImmediateStop (Axes Group Immediate Stop) instruction is executed, the axes group enters
an
ErrorStop
state regardless of its current state.
*4. The axes group enters a
Standby
state if the MC_GroupReset (Group Reset) instruction or the ResetMCError
(Reset Motion Control Error) instruction is executed while the axes group is in a
GroupEnable
state.
*5. An
ErrorStop
state is entered from any other state. It is entered even if an error occurs while the axes group is
in a
GroupDisable
state.
*6. The axes group enters a
Disabled
state if the MC_GroupReset (Group Reset) instruction or the ResetMCEr-
ror (Reset Motion Control Error) instruction is executed while the axes group is in a
GroupDisabled
state.
*7. The axes group stays in the same state even if the MC_GroupDisable (Disable Axes Group) instruction is
executed while in a
ErrorStop
state.
Axes Group Disabled
(Disabled)
Axes Group Disabled
(Disabled)
Standby
(Standby)
Moving
(Moving)
MC_GroupEnable
MC_GroupDisable
*7
MC_SetKinTransform
*1
MC_MoveTimeAbsolute
MC_SyncLinearConveyor
MC_SyncOut
MC_RobotJog
MC_MoveTimeAbsolute
MC_MoveTimeAbsolute
MC_SyncLinearConveyor
MC_SyncLinearConveyor
MC_RobotJog
MC_RobotJog
MC_MoveTimeAbsolute
MC_SyncLinearConveyor
MC_RobotJog
MC_GroupStop
MC_GroupStop
*2
*4
*5
*6
Deceleration Stopping
(Stopping)
Error Deceleration
Stopping (ErrorStop)
At MC_GroupImmediateStop
execution*3
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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