6-8-12 Displaying 3D Motion Monitor For User Coordinate System - Omron NX-series User Manual

6 Introduction of Motion Control Functions

6-8-12 Displaying 3D Motion Monitor for User Coordinate System

In the case that coordinate systems (such as SCARA robot and vertical articulated robot) other than
orthogonal coordinate system are implemented by user programs, this function can be used to display
the path of robot hands, etc. in 3D with Sysmac Studio.
You can create an _sMC_POSITION_REF type user-defined variable and display in 3D Motion Monitor
Display Mode.
 _sMC_POSITION_REF
The followings are the members of _sMC_POSITION_REF type data.
Member
CommandPosition
ActualPosition
The following list describes each member.
User-defined variable.CommandPosition[0]
User-defined variable.CommandPosition[1]
User-defined variable.CommandPosition[2]
User-defined variable.CommandPosition[3] to
[5]
User-defined variable.ActualPosition[0]
User-defined variable.ActualPosition[1]
User-defined variable.ActualPosition[2]
User-defined variable.ActualPosition[3] to [5]
6-84
ARRAY [0..5] OF LREAL
ARRAY [0..5] OF LREAL
Member
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual (W579)
Data type
Description
This is an X-axis component for the command current position.
This member is assigned a user-defined variable that indi-
cates the X-axis position of the command current position gen-
erated by a user program.
This is a Y-axis component for the command current position.
This member is assigned a user-defined variable that indi-
cates the Y-axis position of the command current position gen-
erated by a user program.
This is a Z-axis component for the command current position.
This member is assigned a user-defined variable that indi-
cates the Z-axis position of the command current position gen-
erated by a user program.
Not used.
This is an X-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the X-axis position of the actual current position handled
in a user program.
This is a Y-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the Y-axis position of the actual current position handled
in a user program.
This is a Z-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the Z-axis position of the actual current position handled
in a user program.
Not used.
Meaning
Command Current Position
Actual Current Position