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4 Robot Instructions
MC_SetKinTransform
The MC_SetKinTransform instruction makes the axes group settings required for robot control. The set-
tings include the kinematics setting, workspace check setting, and maximum interpolation velocity set-
ting.
Instruction
MC_SetKinTransform
Set Kinemat-
ics Transfor-
mation
Variables
This section describes the input variables, output variables and in-out variables for the
MC_SetKinTransform (Set Kinematics Transformation) instruction.
4 - 6
FB/
Name
Graphic expression
FUN
FB
MC_SetKinTransform_instance
MC_SetKinTransform
AxesGroup
Execute
KinTransform
Workspace
EnableWorkspace
MaxVelocityTCP
MaxAccelerationTCP
MaxDecelerationTCP
MC_SetKinTransform_instance (
AxesGroup :=parameter,
Execute :=parameter,
AxesGroup
KinTransform :=parameter,
Done
Busy
Workspace :=parameter,
CommandAborted
EnableWorkspace :=parameter,
Error
MaxVelocityTCP :=parameter,
ErrorID
MaxAccelerationTCP :=parameter,
MaxDecelerationTCP :=parameter,
Done =>parameter,
Busy =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
NJ-series NJ Robotics CPU Unit User's Manual (W539)
ST expression
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