Omron NJ501-4300, Руководство пользователя

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4 Robot Instructions
4 - 36 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
The setting of TransitionParameter (Transition Parameters) varies depending on whether Transition-
Mode (Transition Mode) is set to _mcTMStartHeight (Start height) or _mcTMStartRemainingTime (Start
remaining time).
 _mcTMStartHeight (Start height)
Refer to _mcTMStartHeight (Start Height) on page 4-86 for details on _mcTMStartHeight (Start
height).
 _mcTMStartRemainingTime (Start remaining time)
Refer to _mcTMStartRemainingTime (Start Remaining Time) on page 4-88 for details on _mcTM-
StartRemainingTime (Start remaining time).
TransitionParameter (Transition Parameters)
Name
Data
type
Valid range Description
TransitionParameter [0] LREAL Positive number
or 0 Transition Start Height (The height at which the
transition is started) [mm]
TransitionParameter [1] to
[7] (Reserved) LREAL 0 (Reserved)
Name
Data
type
Valid range Description
TransitionParameter [0] LREAL Positive number
or 0 Transition Start Time (The time at which the tran-
sition is started) [ms]
TransitionParameter [1] to
[7] (Reserved) LREAL 0 (Reserved)
Timing Charts
16#0000
Execute
Done
Busy
Active
CommandAborted
Error
ErrorID