Mc_Groupsyncmoveabsolute - Omron NJ501-4500 Manual

4 Robot Instructions

MC_GroupSyncMoveAbsolute

The MC_GroupSyncMoveAbsolute instruction cyclically outputs target positions in the axis coordinate
systems set for the axes.
Instruction Name
MC_GroupSyncMove Axes
Absolute
Group
Cyclic Syn-
chronous
Absolute
Positioning
For details on this instruction, refer to the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).
Function
• This instruction is executed independently of the kinematics settings of the axes group.
• You can create an original trajectory for robot operation by using this instruction together with the
MC_InverseKin (Inverse Kinematics) instruction.
Use the following procedure to create the program.
1
Execute the MC_Power (Power Servo) instruction.
Turn ON the Servo for the robot axes.
2
Execute the MC_SetKinTransform (Set Kinematics Transformation) instruction.
Set the kinematics for the axes group.
3
Execute the MC_GroupEnable (Enable Axes Group) instruction.
Enable the axes group.
4
Calculate the trajectory.
Create the target positions (Xi, Yi, Zi) in the machine coordinate system (MCS).
After this, execute the calculation each period.
5
Execute the MC_InverseKin (Inverse Kinematics) instruction.
Transform the target position (Xi, Yi, Zi) into the target value (A0i, A1i, A2i) in the axis coordinate
system (ACS).
4 - 82
FB/
Graphic expression
FUN
FB
MC_GroupSyncMoveAbsolute_instance

MC_GroupSyncMoveAbsolute

AxesGroup
Execute
Position
CoordSystem
BufferMode CommandAborted
ST expression
MC_GroupSyncMoveAbsolute_instance (
AxesGroup :=parameter,
Execute :=parameter,
AxesGroup
Position :=parameter,
InPosition
CoordSystem :=parameter,
Busy
Active
BufferMode :=parameter,
InPosition =>parameter,
Error
Busy =>parameter,
ErrorID
Active =>parameter,
CommandAborted =>parameter,
Error =>parameter,
ErrorID =>parameter
);
NJ-series NJ Robotics CPU Unit User's Manual (W539)