Mc_Groupmon - Omron NJ501-4500 Manual

MC_GroupMon

The MC_GroupMon instruction reads the current position and current velocity of the robot.
Instruction

MC_GroupMon

Variables
This section describes the input variables, output variables and in-out variables for the MC_GroupMon
(Group Monitor) instruction.
Input Variables
Name Meaning
Enable Enable
CoordSystem Coordinate
System
CSID Coordinate
System ID
ToolID Tool ID
NJ-series NJ Robotics CPU Unit User's Manual (W539)
FB/
Name
FUN
Group FB
MC_GroupMon_instance
Monitor
AxesGroup
Enable
CoordSystem
CSID
ToolID
Data type Valid range
BOOL TRUE or FALSE
_eMC_RBT_ 1: _mcRBT_MCS
COORD_
3: _mcRBT_UCS
SYSTEM
UINT 0 to 15
UINT 0 to 16
Graphic expression
MC_GroupMon
AxesGroup
Valid
Busy
Error
ErrorID
Position
Velocity
Default
FALSE Starts reading the current value when this
variable changes to TRUE.
1 Select the coordinate system.
1: Machine coordinate system (MCS)
3: User coordinate system (UCS)
0 Select the user coordinate system number if
you select the user coordinate system (UCS).
0 Select the ID of the robot tool that is moni-
tored.
4 Robot Instructions
ST expression
MC_GroupMon_instance (
AxesGroup :=parameter,
Enable :=parameter,
CoordSystem :=parameter,
CSID :=parameter,
ToolID :=parameter,
Valid =>parameter,
Busy =>parameter,
Error =>parameter,
ErrorID =>parameter,
Position =>parameter,
Velocity =>parameter
);
Description
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