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4 Robot Instructions
Setting Direction
• Direction input specifies the direction followed by the rotational axes when positioning the robot to the
target position.
• Direction input is only applicable to the kinematics that provides orientation (Rx, Ry, Rz).
• Direction is referred to the rotational axes, so in case there is only one rotational axis for the robot,
the first element of the array will be used (Delta-3R). In case two rotational axes existed for a kine-
matics, the first two elements of the array would be used. Maximum number is 4, maximum axes of
an Axes Group.
• If other kinematics different than Delta-3R is set, Direction input is not used.
For Delta-3R meaning of Direction input is below:
Name
Direction [0]
Direction [1]
Direction [2]
Direction [3]
Setting Trajectory
• Use TrajData (Trajectory Data) to set the parameters for creating the trajectory toward the target posi-
tion.
TrajData (Trajectory Data) consists of the following variables: MoveTrajType (Motion Trajectory Type
Selection), TrajTime (Trajectory Target Time), MaxVelocity (Velocity Error Detection Value), and Max-
Acceleration (Acceleration Error Detection Value).
• Select the polynomic 3 curve or modified sine curve (recommended) for MoveTrajType (Motion Tra-
jectory Type Selection).
X axis
Target
position
Current
position
• The workspace check is performed if it is enabled. If the created command position is outside the
workspace, an error occurs and the axis stops.
• When this instruction is executed, the maximum values of the command velocity and command
acceleration rate are created. The instruction checks whether or not these values exceed MaxVeloc-
ity (Velocity Error Detection Value) or MaxAcceleration (Acceleration Error Detection Value).
When a command position is created, a command velocity and command acceleration rate are cre-
ated at same time. These values are also checked in the same way.
If a specified limit is exceeded, an error occurs and the axis stops.
• If MaxVelocity (Velocity Error Detection Value) or MaxAcceleration (Acceleration Error Detection
Value) is set to 0, check is not performed for the variable which is set to 0.
4 - 34
Data type
_eMC_DIRECTION
0: _mcPositiveDirection
2: _mcNegativeDirection
4: _mcNoDirection
_eMC_DIRECTION
Full range
_eMC_DIRECTION
Full range
_eMC_DIRECTION
Full range
Y axis
Target
position
Current
position
Target time
Valid range
Direction of rotation of the rota-
tional axis for Delta-3R (A3 of
Delta-3R)
Reserved
Reserved
Reserved
Z axis
Target
position
Current
position
Target time
NJ-series NJ Robotics CPU Unit User's Manual (W539)
Description
Target time
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