Omron NJ501-4500 Manual page 122

4 Robot Instructions
 Pose
Set the pose of the user coordinate system (UCS).
Name
Pose [0]
Pose [1]
Pose [2]
Pose [3]
Pose [4]
Pose [5]
Timing Charts
Execute
CoordTransform
Done
Busy
CommandAborted
Error
ErrorID
Errors
If an error occurs during instruction execution, Error will change to TRUE.
You can find out the cause of the error by referring to the value output by ErrorID (Error Code).
Execute
Done
Busy
CommandAborted
Error
ErrorID
4 - 18
Data type Valid range
LREAL Positive number, neg-
ative number or 0
LREAL Positive number, neg-
ative number or 0
LREAL Positive number, neg-
ative number or 0
− 180.0 to 180.0
LREAL
− 90.0 to 90.0
LREAL
− 180.0 to 180.0
LREAL
16#0000
The origin position of the user coordinate
system viewed from the origin of X axis of
the machine coordinate system: Tx [mm]
The origin position of the user coordinate
system viewed from the origin of Y axis of
the machine coordinate system: Ty [mm]
The origin position of the user coordinate
system viewed from the origin of Z axis of
the machine coordinate system: Tz [mm]
The rotation around X axis of the user
coordinate system: Rx [degree]
The rotation around Y axis of the user
coordinate system: Ry [degree]
The rotation around Z axis of the user
coordinate system: Rz [degree]
16#0000
Error Code
NJ-series NJ Robotics CPU Unit User's Manual (W539)
Description