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MC_MoveTimeAbsolute
The MC_MoveTimeAbsolute instruction moves the robot to a specified absolute target position in the
specified time period.
Instruction
MC_MoveTimeAbsolute
Variables
This section describes the input variables, output variables and in-out variables for the
MC_MoveTimeAbsolute (Time-specified Absolute Positioning) instruction.
Input Variables
Name
Meaning
Execute
Execute
Position
Target Posi-
tion
Direction
Direction
TrajData
Trajectory
Data
NJ-series NJ Robotics CPU Unit User's Manual (W539)
FB/
Name
FUN
Time-specified
FB
MC_MoveTimeAbsolute_instance
Absolute
Positioning
AxesGroup
Execute
Position
Direction
TrajData
CoordSystem
CSID
ToolID
BufferMode
TransitionMode
TransitionParameter
Data type
BOOL
TRUE or FALSE
ARRAY[0..5] OF
Positive number,
LREAL
negative number or
0
ARRAY[0..3] OF
0: _mcPositive
_eMC_DIRECTION
Direction
2: _mcNegative
Direction
4: _mcNoDirection
_sMC_MOVE_
TRAJ_REF
Graphic expression
MC_MoveTimeAbsolute
AxesGroup
Done
Busy
Active
CommandAborted
Error
ErrorID
Valid range
Default
FALSE
0
4
---
---
4 Robot Instructions
ST expression
MC_MoveTimeAbsolute_instance (
AxesGroup :=parameter,
Execute :=parameter,
Position :=parameter,
Direction :=parameter,
TrajData :=parameter,
CoordSystem :=parameter,
CSID :=parameter,
ToolID :=parameter,
BufferMode :=parameter,
TransitionMode :=parameter,
TransitionParameter :=parameter,
Done =>parameter,
Busy =>parameter,
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
Description
The instruction is executed when
Execute changes to TRUE.
Set the target position.
Set the travel direction.
0: Positive direction
2: Negative direction
4: No direction specified
Set the parameters for creating the
command value used to move the
robot to a specified target position.
4
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