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Robot-supported NJ Series CPU Unit User's Manual

1. MC_GroupDisable 29 1 Set the kinematics transformation to Axis group After this procedure robot instruction can be used 2 Stopping state is entered when the Done output variable from the MC_GroupStop instruction is TRUE and the Execute input variable to the same instruction is FALSE 3 The Standby state is entered when the MC _GroupReset or ResetMCError Instruction is executed for an enabled axes group 4 The ErrorStop state is entered from any other state It is even entered if an error occurs when the axes group is disabled 5 The same state is returned to if the MC_GroupDisable is executed in ErrorStop state 6 The Disabled state is entered when the MC_GroupReset or ResetMCError instruction is executed for a disabled axes group 7 The ErrorStop state is entered from any other all states When MC_GroupStop instruction is executed and during Error Deceleration Stopping Document No 7001 7 0302347E 176 203 8 Sample Programming This section shows sample programming for conveyor tracking of a 5 axis machine that has Delta3R and one conveyor axis It is assumed that the axis and axes group settings have been completed with Sysmac Studio Delta3R Axes group MC_Group000 Logical axes AOQ MC Axis00 A1 MC_Axis001 A2 MC_Axis002 A3 MC_Axis003 Conveyor axis MC Axis004 1 Enable all axes to operate Servo On Ins_ Power Power_Enable MC_Axis00 MC_Axis001 Power2_Busy Power2_Error Power2_ErrorlD P
2. Reo mm gt Note In case of Delta 3R when the 4th axis is attached with its motor placed on the fixed plate the working volume normally becomes smaller comparing to the one of Delta 3 robot In that case change the parameters of the workspace by adapting them to the smaller volume Document No 7001 7 0302347E 50 203 3 3 2 3 Workspace parameters for Delta2 Robot The Delta2 workspace is a trapezoid The following parameters are set Zu Front position of the trapezoid position from the home of Z axis mm H Height of the trapezoid mm Rtop Radius of the trapezoid of upper side mm Rbottom Radius of the trapezoid of underside mm Roottom Document No 7001 7 0302347E 51 203 3 3 2 4 The actual mobile volume The actual mobile volume is 0 1mm inside of the space that configure by MC_SetKinTransfrom instruction as indicated below figure For this reason the target position to move the robot set the value of the workspace than 0 1mm inside the set If the command current position or actual current position is out of The actual mobile volume of robot as indicated below figure an error occurs and robot stop immediately Example Workspace for Delta3 Robot Workspace that you configure by MC_SetKinTransfrom instruction The actual mobile volume of robot 0 1mm Document No 70017 0302347E 52 203 3 3 2 5 Constraints of kinematics and workspace 1 Relationship between kinematics
3. Execution scope of the MC SyncLinearConveyor instruction Document No 70017 0302347E 111 203 bot T3 T3 Ttrans2 Trajectory in the case z Oe D o where the workpiece is F moving 7 e N N InSync is TRUE in this range R Z axis Trajectory in the case where the workpiece is stopped When H1 lt 0 the command position for moving the robot downward in the Z axis direction is created In other cases same as Case 1 eee eee Ae A Current position of the robot When the robot position and the workpiece position become Case 3 T1 0 I2 T3 T3 Ttrans2 Trajectory in the case where the workpiece is stopped same InSync changes to TRUE Execution scope of the MC_SyncLinearConveyor instruction Trajectory in the case where the workpiece is moving InSync is TRUE in this range Z axis X axis X axis When 77 0 initial command position for moving the robot upward downward in the Z axis direction Is not created In other cases same as Case 1 Document No 70017 0302347E 112 203 The following values are set for Trajectory Target Time JrajTime Trajectory Ttransition Ratio TrajTransition and Trajectory Distance 7rajDistance TrajTime Name Data type wal range Description TrajTime 0 UINT T1 ms TrajTime 1 UINT T2 ms TrajTime 2 oo T3 ms TrajTime 3 7 UINT OA Reserved TrajTransition Name Data type Valid range Descript
4. _ Illegal Axes Group Specification 54610000 hex 54660000 hex 57050000 hex 57060000 hex 57070000 hex 57080000 hex 57090000 hex 570A0000 hex 570B0000 hex 570C0000 hex 570F0000 hex 57100000 hex 57120000 hex Instruction Execution Error with Undefined Home Instruction Not Supporting Kinematics Transform Different Composition between Axes Group and Kinematics Kinematics Type Selection Out of Range Kinematics Parameter Setting Out of Range Workspace Type Selection Out of Range Workspace Parameter Setting Out of Range Invalid Coordinate System Number Coordinate Transform Parameter Setting Out of Range Kinematics Calculation Failed Kinematics Transform Not Set Velocity Error Detection Value Setting Out of Range Meaning The axes group specified for the AxesGroup input variable to a motion control instruction does not exist or is not a used group High speed homing or an interpolation instruction was executed when home was undefined An instruction that cannot be used for the axes group to which kinematics transform is set was executed The composition is different between the specified axes group and the specified kinematics The kinematics type specified for the KinTransform input variable to a motion control instruction is out of the setting range The kinematics parameter specified for the KinTransform input variable to a moti
5. Alwaye comlirm satiety et the destination before you trensier a user program configuration data setup data device variates or values in memory used for GJ seres Units from the Sysmac Studio The devices or machines may perform unexpected operation regardless of the operating mode of the GPU riit Document No 7001 7 0302347E 14 203 Caution I Application Do not touch any Unit when power is being supplied of immediately after the power supply is tumed OFF Doing 50 may ragullt in burn injury Wiring Be sure thal all terminal screws and cable connector screws are lightened to the tongue spectied in the relevant manuals The loose screws may result in fire or malfunction Online Editing Bxecule onne ediling only aher coanlirrning trial ne adverse eflects will be caused by deviations in the timing of VO If you perom online editing the lask execution time may exceed the task period VO mey nH be reireshed with extemal devices input signals may not be read and output ming may change Precaution on Error Message That Says an Instruction May Cause Unintended Operation Instructions may results in unexpected operation and affect the system if you chiar ihe Sehechon of te Ouest an error ether ar iaut arb is passed he speciic instruction argumen Check Bax in ihe Program Check Area Always conli that the conditions tor use thal are given in the AW series imairuchons Reference Manual Cat Mo W502 are met
6. CPU Unit CJ series Units Unit model Unit model Unit Version Unit version RobotVersion Lot number Lot number Rack number slot number and unit number Document No 70017 0302347E 29 203 EtherCAT Slaves Double click EtherCAT under Configurations and Setup in the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit from the menu The EtherCAT Configuration Tab Page is displayed for the Controller Configurations and Setup layer 2 Right click the master in the EtherCAT Configurations Editing Pane and select Display Production Information The Production Information Dialog Box is displayed Production Information fx Type information Serial number Node R amp 8D KNO1L ECT Rev 2 1 OMRON Corporation 0x00000000 The following items are displayed Node address Type information Serial number If the model number cannot be determined such as when there is no ESI file the vendor ID product code and revision number are displayed Unit Versions and Sysmac Studio Versions The functions that are supported depend on the unit version of the Robot supported NJ Series CPU Unit The version of Sysmac Studio that supports the functions that were added for an upgrade is also required to use those functions Refer to NJ series CPU Unit Software User s Manual Cat No W501 Version Information for the relationship between the unit versions of the CPU Units and the Sysmac Studio ve
7. Document No 7001 7 0302347E 85 203 7 3 When using with Robot Ver 1 01 a project which was created in Robot Ver 1 00 To load a project which is created in Robot Ver 1 00 and change modify with functions of Robot Ver 1 01 operate following procedure It is required only when robot instructions are used in ladder diagrams Following robot instructions require the procedure Other instructions do not MC_SetKinTransform MC_GroupMon MC_MoveTimeAbsolute MC_SyncLinearConveyor MC_InverseKin 1 Load the project in SysmacStudio Ver 1 09 or later 2 Right click the Controller Icon and select Change Device from the menu Or select the Change Device from the Controller Menu 3 Select the Version 1 08 or later in the Change Device Dialog Box Change Device Ssa ag Select Device Category Controller Device NJ501 Version 1 08 Cancel SetKinTransform_Execute MC_Group000 SetKinTransform_KinTransform Edit Instance Name SetKinTransform_Workspac SetKinTransform_EnabieWorkspac z Insert Parallel Input Above Insert Parallel Input Below Cut Copy Delete Breakpoints Fixed Target Cross Ref 5 The instruction on the ladder diagram is updated to the specification of Robot Ver 1 01 Set input values and output values to additional input variables and output variables 0 Ins_SetKinTransform MC_SetKinTransform SetKinTransform_Execute MC_Group000 4AxesGroup Execute SetKinTransform_KinTransfo
8. Also this manual is mainly described about 4xxx s features so please see this with NJ501 xxxx s manual indicated in Related Manuals Intended Audience This manual is intended for the following personnel who must also have knowledge of electrical systems an electrical engineer or the equivalent Personnel in charge of introducing FA systems Personnel in charge of designing FA systems Personnel in charge of installing and maintaining FA systems Personnel in charge of managing FA systems and facilities For programming this manual is intended for personnel who understand the programming language specifications in international standard IEC 61131 3 or Japanese standard JIS B3503 Applicable Products This manual covers the following products Robot supported NJ series CPU Units NJ501 4500 NJ501 4400 NJ501 4310 NJ501 4300 Document No 7001 7 0302347E 4 203 CONTENTS MOOC UO essre E E 3 PENG Audion O Sara ene eee 3 PRPC IOS OCS rae tee ENEE EEE E EEEE EEEE EEEE EEE E 3 CONTENT eee enw a gm rrr Re 4 Read and Understand this Manual ccccccccccseecceeeeeeeeeeseeeeeeeeeeeeeeseeeeseeeeseeeeseeeeseueeseueeseueeseueeseeeeseeeeseeeeseneess T EFECAN a T A AAA ere AAA AEA een ee nen ere een ee AE AA ner en eee 10 Detinition or Precautionary INFORMA OM szaz E 10 140 816 Renee eet cone nn nee ene nee tele tere nee Cee er er eer ee ee ee ee 11 Precautions for Safe Use cccccccc
9. Wh position Trajectory in the case ee where the workpiece is robo moving X axis When the robot position and the workpiece position become same nSync changes to TRUE InSync is TRUE in this range Execution scope of the MC_SyncLinearConveyor instruction When 77 0 initial command position for moving the robot upward downward in the Z axis direction is not created In other cases same as Case 1 The following values are set for Trajectory Target Time TrajTime Trajectory Ttransition Ratio TrajTransition and Trajectory Distance rajDistance TrajTime Name Data type Valid range Description TrajTime 0 UINT T1 ms 0 TrajTime 1 UINT T2 ms TrajTime 2 UINT T3 ms TrajTime 3 7 UINT O Reserved Traj Transition Name Data type Valid range Description TrajTransition 0 UINT 1 to 100 Ttrans1 Traj Transition 1 UINT 1 to 100 Ttrans2 TrajTransition 2 UINT Rotation transition Initial phase TrajTransition 3 UINT Rotation transition2 Final phase TrajTransition 4 7 UINT O Reserved TrajDistance Name Data type Valid range Description TrajDistance 0 LREAL Negative number Trajectory Distance Z axis direction in Machine positive number or coordinate system MCS 0 H1 mm TrajDistance 1 7 LREAL oO Reserved Document No 70017 0302347E 158 203 If the workspace check function is enabled and it detects an error the axis Group is stopped Refer to Robot suppor
10. Error X Y of each axis is as below it is considered as match When control period is 1ms 0 1 mm When control period is 2ms 0 2 mm When control period is 4ms 0 4 mm When Execute changes to TRUE When the axis starts moving When this instruction is aborted because another motion control instruction was executed with the Buffer Mode set to Aborting When this instruction is canceled due to an error When Error changes to TRUE When CommandAborted changes to TRUE When Error changes to TRUE When CommandAborted changes to TRUE When Execute is TRUE and changes to FALSE After one period when Execute is FALSE When this instruction is executed while there is an error When this instruction is started during MC_GroupStop instruction execution When there is an error in the execution conditions or input When the error is cleared parameters for the instruction e In Out Variables Name Meaning Data type Valid range Description AxesGroup _sGROUP_REF Specify the axes group ConveyorAxis _sAxis_REF Specify the axis m Function This instruction is used for a specified robot axes group to catch up with a workpiece specified by Initial Workpiece Position nitWorkpiecePosition from the current position The InSync output variable changes to TRUE when the robot catches up with the specified workpiece i e when X axis and Y axis match Then the synchronization is maintained N
11. Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields Locations subject to possible exposure to radioactivity Locations close to power lines Before touching a Unit be sure to first touch a grounded metallic object in order to discharge any static build up Install the Controller away from sources of heat and ensure proper ventilation Not doing so may result in malfunction in operation stopping or in burning An I O bus check error will occur and the Controller will stop if an I O Connecting Cable s connector is disconnected from the Rack Be sure that the connectors are secure Do not allow foreign matter to enter the openings in the Unit Doing so may result in Unit burning electric shock or failure Do not allow wire clippings shavings or other foreign material to enter any Unit Otherwise Unit burning failure or malfunction may occur Cover the Units or take other suitable countermeasures especially during wiring work For EtherCAT and EtherNet IP use the connection methods and cables that are specified in the NJ series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 and the NJ series CPU Unit Built in EtherNet IP Port User s Manual Cat No W506 Otherwise communications may be faulty Use the rated power supply voltage for the Power Supply Units Take appropriate measures to ensure that the specified power with the rated voltage an
12. _sMC_SYNC_TRAJ REF Member Data type Valid range Function variable SyncTrajType Synchronization _eMC_SYNC_TRAJ__ 0 _mcFlatTraj Specify the trajectory type to create command Trajectory Type TYPE current position for synchronization with the Selection conveyor Only the third order polynomial is currently supported 0 Third order polynomial TrajTime time S oun Specify the time to create command current Time OF UINT positions from current position to target position The unit is ms Traj Transition Trajectory ARRAY 0 7 Specify the time ratio to start the movement from Transition Ratio OF UINT current operation to next operation within this command The unit is TrajDistance Trajectory ARRAY 0 7 Negative number Specify the distance for upward downward Distance OF LREAL positive number or movement from current position to target position 0 The unit is mm MaxVelociy Velocity Error LREAL Positive number Specify the velocity at which a velocity error too Detection Value fast is detected when creating a command current position The unit is mm s MaxAcceleration Acceleration LREAL Positive number Specify the acceleration rate at which an Error Detection acceleration error too much Value acceleration deceleration is detected when creating a command current position The unit is mm s e Output Variables Name Description InSync In Sync BOOL TRUE or FALSE TRUE when the TCP of robot catches up wit
13. m0 o Poston oftsetZ o o o o o The trajectory of TCP Position Offset s N X f s The offset movement on a conveyor L Offset is Enabled from disabled he trajectory of TCP Position offset es I The offset movement on the workpiece Document No 70017 0302347E 59 203 l Precautions for Correct Use Offset functionality can only be used while the robot is synchronized with the workpiece If the offset is enabled before the synchronization has been achieved an error occurs When the offset is changed to enabled from disabled the position offset at the moment is applied Due to the value of position offset TCP may move immediately Pay attention that When the offset is changed to disabled from enabled the output is the same as the last position offset is kept To set position offset a mixed format is used Cartesian coordinates X Y Z for Position and joint values J4 J5 and J6 for the Orientation Name Meaning Units PositionOffset 0 X coordinate offset mm PositionOffset 1 Y coordinate offset mm PositionOffset 2 Z coordinate offset mm PositionOffset 3 A3 coordinate offset ACS deg PositionOffset 4 A4 coordinate offset ACS deg PositionOffset 5 A5 coordinate offset ACS deg Position offset details depending on robot kinematics Kinematics Position offset type X Y Z J4 J5 J6 Position Position Position PositionOf Position
14. mm 0 Position 3 LREAL Negative number Target position of rotation around X axis on the positive number or machine coordinate system MCS deg 0 Position 4 LREAL Negative number Target position of rotation around Y axis on the positive number or machine coordinate system MCS deg 0 Position 5 LREAL Negative number Target position of rotation around Z axis on the positive number or machine coordinate system MCS deg 0 Position array details depending on kinematics type KinT ype Name KinType Position oom sa Delta 3 100 X X X O Used X Not Used AxesPosition Name Data type Valid range Description AxesPosition 0 LREAL Negative number Target position of AO axis on the axis coordinate positive number or system ACS deg 0 AxesPosition 1 LREAL Negative number Target position of A1 axis on the axis coordinate positive number or system ACS deg 0 AxesPosition 2 LREAL Negative number Target position of A2 axis on the axis coordinate positive number or system ACS deg 0 AxesPosition 3 LREAL Negative number Target position of A3 axis on the axis coordinate positive number or system ACS deg 0 AxesPosition 4 5 LREAL 0O Reserved AxesPosition array details depending on kinematics type KinT ype Document No 70017 0302347E 165 203 Name KinType aa c ee ETEAKAS O Used X Not Used If the target position is outside the workspace rega
15. 33 EZ FSS SUS OM MI Ur A COIN ett erect cette eet tet e tu teddy dudes sae 33 T SLAM PROCS CU CS arr dace tcacttcee deat tauetene EEEE EEEE TETTO REE 36 des PECE OT E Meh nt come enone ne nme One OS OPM ORS OR PRO ne ORO OR Pe Oe ne E Oe PROPER PE PP RETR PREY NEUEN TOON TS URE 37 1 4 1 Function Specifications eee cccccececcescecceeceeceueeccaucecceeeeseueeeseueeeseaeeessaeeessaeeesseeessueeessugeessuaeessaees 37 1 4 2 Performance Specifications cccccccccccccccesceccesceccenceccegeeeseeeeseeeeceueeecsaeeessgeeessuseessueeessueeessuneessaees 37 2 nwoducion to TRODOUCCONU Olina ee 39 3 FONCIONS riproi O OEE 40 Se E ONORE RODO T DO wancchacctsaaheccceaccecedocedancceccsececenccacedececeaccecsteccceacsecsaeccceaccecndecedeaecececneccecateceteccte tee 40 ee ON IN ea y EM ee a 40 32T QUINE eee eee eee EE 40 322 AXIS COOrdinale SvVStem ACS usss a a S senda 45 323 Cartesian Coordinate Systems seisis EEEE a i 45 39 Special RODOLFU 614 9 A renee re 46 39 sISIPGMAUCS SOUNAG eieiei A 46 Document No 7001 7 0302347E 5 203 D2 WORK ors cod Oe g a O iments tare estate nent ane nan arene ananassae nea ae ann Anan nn a an nee Ree 48 J2 Usor Coordinate Sy SCCM ins tata ed ted fda a E E E E E E 55 Siow MONOND Ganre 56 3 3 5 Time specified Absolute Positioning Command ccccseeceecceeeeeeeeeeeeeeeeeeeeeeaeeeeeseaeeeeeseeeeeessaeeees 56 3 3 6 Synchronization with Conveyor cccccecccccseeeececeeeeeesae
16. A restriction applies to the instructions that can be used while this instruction is in execution For details on multi execution of motion control instructions refer to Robot supported NJ Series CPU Unit User s Manual 7001 7 0302347 Multi execution of Motion Control Instructions of this document e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Error Code Execute Done i _ Busy Command Aborted Error ErrorlD 16 0000 Error Code Document No 70017 0302347E 122 203 MC_InverseKin lt Robot Ver 1 00 gt The MC_InverseKin instruction performs inverse kinematics Instruction Bara Graphic expression ST expression i MC_InverseK Inverse MC InverseKin__ instance MC_InverseKin in Kinematics AxesGroup variable_name WC laverseKin Enable variable_name Aneebrop A Ger Position variable_name Engine al AxesGroup gt variable_name Postion Bacay Valid gt variable_name ress Busy gt variable_name Errai Error gt variable _name Ages pation ErrorlD gt variable_name Qu fierce AxesPosition gt variable_name OutWorkspace gt variable_name m Variables Input Variables Name ___Meaning Datatype Validrange__ _ Default _ Description Enable Enable BOOL TRUE or FALSE FALSE The target position is transformed to axis target positions of
17. Aborted Error BOOL TRUE or FALSE TRUE while there is an error ErrorlD Error Code WORD Contains the error code when an error occurs A value of 16 0000 indicates normal execution TrajStatus Teves R AS Outputs the status remaining time for creating ATUS command current position and phase of the trajectory Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting _sMC_SYNC_TRAJ STATUS Member Data type Valid range Function variable RemainTime Remaining Time UINT Positive number Outputs the remaining time for creating command or O current position The unit is ms Phase Outputs which position on trajectory the command position refers to Document No 7001 7 0302347E 152 203 Output Variable Update Timing Name Timing for changing to TRUE Timing for changing to FALSE InSync If the command current position and actual current position e When Error changes to TRUE of the workpiece are matched after the Target Time e When CommandAborted changes to TRUE Trajectory T1 T2 T3 T3 Trans2 later describe has elapsed If the difference between command current position X Y and actual current position of the workpiece X Y of each axis is as below it is considered as match When control period is 1ms 0 1 mm When control period is 2ms 0 2 mm When control period is 4ms 0 4 mm Busy When Execute changes to TRUE Active When the axis starts moving Com
18. An operation instruction was executed while Axes Group was enabled A multi axes coordinated control instruction was executed for an axes group that was in the Axes Group Disabled state An operation instruction was executed for an axis for which the Servo is OFF Assumed cause e Instruction input parameter exceeded the valid range of the input variable e Instruction input parameter exceeded the setting range of the input variable e Instruction input parameter exceeded the valid range of the input variable e Except for robot instructions _mcAborting or _mcBuffered was specified for BufferMode and _mcTMCornerSuperimpose was specified for TransitionMode e A motion control instruction that cannot be re executed was re executed e An operation instruction was executed for an axis or an axes group that was ina coordinated multi axes motion e x Execution of MC_SetKinTransform while axes group was enabled e A multi axes coordinated control instruction was executed for an axes group that was in the Axes Group Disabled state e xAny one of the following instructions was executed for an axes group that was in the Axes Group Disabled state MC_MoveTimeAbsolute MC_SyncLinearConveyor MC_SyncOut e An operation instruction was executed for an axis for which the Servo is OFF e Home was preset with the MC_Home instruction for an axis for which EtherCAT process data communications are not established Level
19. F m X axis ale A When the robot position Pai a and the workpiece position become same InSync changes to TRUE InSync is TRUE in this range Execution scope of the MC_SyncLinearConveyor instruction lt Terms gt 11 12 13 Trajectory Target Time ms Ttrans1 Ttrans2 Trajectory Transition Ratio H1 Trajectory Distance Z axis direction in Machine coordinate system MCS mm The command position to move the robot from the current position to current position HT Z axis in T1 is created The command position to follow the workpiece after T1 Ttrans1 has elapsed is created The robot does not stop at this time The command position for moving the robot downward in the Z axis direction after T1 T2 has elapsed is created The robot does not stop at this time After T1 12 T3 T3 Ttrans2 has elapsed the difference between command position X Y and actual current position of the workpiece X Y is compared When each difference is the following range or less InSync changes to TRUE If it is exceeded it is considered as an error and the axes are stopped At this time synchronization Disabled error error code 6702hex occurs When control period is ims 0 1 mm When control period is 2ms 0 2 mm When control period is 4ms 0 4 mm Case 2 H1 lt 0 and T1 gt 0 foe position of the ro T2 When the robot position and ithe workpiece position tbecome same InSync ichanges to TRUE
20. MC_DefineCoordSystem instruction must be set When a Robot tool is used the tool ID which is specified by the MC_DefineToolTransform instruction must be set e Timing Charts Enable Valid l Busy Error ErrorlID 16 0000 l Command IN Valid K No Valid Position Position Document No 70017 0302347E 142 203 e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Enable Valid Busy Error ErroriD Command Position Actual Position specified time Instruction FB Graphic expression _ Time specified Absolute Positioning MC_MoveTi meAbsolute m Variables e Input Variabl Name Execute Position Direction TrajData CoordSystem CSID ToollD BufferMode TransitionMode es __Meaning __ Datatype Valid range Default TRUE or FALSE FALSE ARRAY gt 5 Negative number Position OF LREAL R number or ARRAY 0 3 OF eMC_DIRECTION oe Rotation Direction MC_MoveTimeAbsolute_instance MC MovelimeAbsolute ccc Axesonoup Execute Position Direction TrajData Coord System CSlp Tool ID ButterMode TransstionModae TransitionParameter Document No 7001 7 0302347E 143 203 MC MoveTimeAbsolute lt Robot Ver 1 01 gt The MC_MoveTimeAbsolute instruction creates command values to reach a specified target positio
21. Maximum interpolation velocity is not detected 2 When MaxAcclerationT CP is zero Maximum interpolation acceleration is not detected 3 When MaxDecelerationTCP is zero Maximum interpolation deceleration is not detected _SMC_KIN_ REF Member Data type Valid range Function variable KinT ype Kinematics Type _eMC_KIN_ TYPE 100 mcDelta3T Specify the kinematics type to set Selection ype 100 Delta3 101 _mcDelta3T 101 Delta3R ype2 102 Delta2 102 mcDelta2T ype KinParam Specify the arm length and other items for the Parameters OFtREAL Parameters OF LREAL parameters orien OOo o Parameters OF LREAL robot Specify the values for adjusting the rotation of the machine coordinate system MCS ExpansionParam Document No 7001 7 0302347E 127 203 _sMC_WORKSPACE_REF Member Data type Valid range Function variable WorkspaceType Workspace Type _eMC_ WORKSPACE _ 100 Specify the workspace type to set Selection TYPE _mcDelta3Works 100 Delta3 Delta3R pace 101 Delta2 101 _mcDelta2Works pace WorkspaceParam Workspace ARRAY 0 7 Set the Volume of workspace Parameters OF LREAL e Output Variables Name Meaning Data type Valid range Description Busy BOOL TRUE or FALSE TRUE when the instruction is acknowledged CommandAborted BOOL TRUE or FALSE TRUE when the instruction is aborted Aborted Error BOOL TRUE or FALSE TRUE while there is an error ErrorlD Error Code WORD Contains the error code when an
22. Negative Direction Enable changes to FALSE To jog the robot in the positive direction change PositiveEnable Positive Direction Enable to FALSE and then back to TRUE again The same operation applies to the opposite case e Multi execution of Motion Control Instructions A restriction applies to the instructions that can be used while this instruction is in execution For details on multi execution of motion control instructions refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Multi execution of Motion Control Instructions of this document Document No 7001 7 0302347E 172 203 e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Enable Valid Busy Error ErroriD Command Position o Actual I Walid i No Valid Position Document No 7001 7 0302347E 173 203 Multi execution of Motion Control Instructions some robot instructions can be executed during execution of another robot instruction but some robot instructions cannot The following table shows whether or not each instruction can be executed during execution of another robot instruction MC_GroupSyncMoveAbsolute instruction can be also used to the robot E Aborting Instruction MC_Move MC_Sync MC_Sync MC_SyncOut MC_Group e Pii in execution Time Linear Linear a SyncMove Instruction Absolute Conveyor Conveyor Abso
23. established before attempting control operations If frames sent to EtherCAT slaves are lost due to noise or other causes slave I O data is not communicated and the intended operation is sometimes not achieved If noise countermeasures are required use the _EC InDatalnvalid Input Data Disable system defined variable as an interlock condition in the user program Refer to the NJ series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 for details The slave outputs behave according to the slave settings Refer to the manuals for the slaves for details When an EtherCAT slave is disconnected communications will stop and control of the outputs will be lost not only for the disconnected slave but for all slaves connected after it Confirm that the system will not be adversely affected before you disconnect a slave If you disconnect the cable from an EtherCAT slave to disconnect it from the network any current communications frames may be lost If frames are lost slave I O data is not communicated and the intended operation is sometimes not achieved Perform the following processing for a slave that needs to be replaced Document No 70017 0302347E 20 203 Program the _EC InDatalnvalid Input Data Disable system defined variable as an interlock condition Set the Impermissible Number of Continuous Timeouts setting in the EtherCAT master to at least 2 Refer to the NJ series CPU Unit Built in EtherCAT Port User s Manual
24. instruction after the Servo is turned ON If you execute the MC_Home instruction to preset home immediately after you turn ON the power supply to the Controller download data reset a slave communications error disconnect the slave or reconnect the slave write the program to make sure that the _EC_PDSlavTbl Process Data Communicating Slave Table system defined variable for the EtherCAT master is TRUE before you execute MC_Home Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Document No 7001 7 0302347E 187 203 54610000 hex The axes group specified for the AxesGroup input variable to a motion control instruction does not exist or is not a used group Motion Control Function Module Source details Detection timing Ar Dei Minor fault Log category System The relevant instruction is not executed Variable Data type Name Variable o BOOL MC Common Minor Fault Occurrence Prevention An axes group does not exist for the Correct the specification for the Specify a variable that exists when variable specified for the AxesGroup instruction so that the specified axes specifying a variable for an input input variable to the instruction group exists par
25. variable_name TrajData i variable_name Traj Diana l Done gt variable_name Comoran Alberta Busy gt variable_name Eres CommandAborted Erwei gt variable_name Error gt variable_name ErrorlD gt variable_name Exmtula m Variables Input Variables Name ___Meaning Datatype Valid range _ _ Default _ Description Execute changes to TRUE TrajData Trajectory Data _SMC_SYNCOUT_TRA Specify the parameters for releasing _sMC_SYNCOUT TRAJ REF Member Data type Valid range Function variable SyncStopType Synchronization eMC_SYNC_STOP_ 0 _mcSyncStop Specify the trajectory type to create the command Stop Type TYPE 1 mcRBT_Immedi position for releasing the synchronization with Selection ateStop conveyor 0 Synchronization Stop 1 Immediate Stop TrajTime al Nac Specify the target time for synchronization stop Time OF UINT The unit is ms raonse tension Ratio okuni en Transition Ratio OF UINT TrajDistance Trajectory ARRAY 0 7 Negative number Specify the distance for upward downward Distance OF LREAL positive number or movement from current position to target position 0 The unit is mm MaxVelociy Velocity Error LREAL Positive number Specify the velocity at which a velocity error too Detection Value fast is detected when creating a command position The unit is mm s MaxAcceleration Acceleration LREAL Positive number Specify the acceleration rate at which an Error Detecti
26. 0 CommandPosition 3 5 LREAL O Reserved ActualPosition Name Data type Valid range Description Document No 70017 0302347E 139 203 ActualPosition 0 LREAL Negative number Actual current position of X axis mm positive number or 0 ActualPosition 1 LREAL Negative number Actual current position of Y axis mm positive number or 0 ActualPosition 2 LREAL Negative number Actual current position of Z axis mm positive number or 0 ActualPosition 3 5 LREAL oO Reserved _sMC_VELOCITY_REF ActualVelocityTCP Name Data type Valid range Description ActualVelocityT CP LREAL Positive number or Actual current velocity of the TCP 0 TCP velocity SQRT Vx Vy Vz mm s ActualVelocity Name Data type Valid range Description AcutalVelocity 0 LREAL Negative number Actual current velocity of X axis Vx mm s positive number or 0 AcutalVelocity 1 LREAL Negative number Actual current velocity of Y axis Vy mm s positive number or 0 AcutalVelocity 2 LREAL Negative number Actual current velocity of Z axis Vz mm s positive number or 0 AcutalVelocity 3 5 LREAL 0O Reserved _sMC_ POSITION REF CommandPosition Name CommandPosition 0 CommandPosition 1 CommandPosition 2 CommandPosition 3 CommandPosition 4 CommandPosition 5 ActualPosition Name ActualPosition 0 ActualPosition 1 ActualPosition 2 ActualPosition 3 ActualPosition 4 ActualPosition 5 _sMC_VELOCITY_R
27. 1 In the case over this value when move the robot an error occurs and stop immediately Other parameters are not used in the robot lt Torque gt Any value lt Observation gt Any value Other Operation Settings Any values Limit Settings Set in the range from 180 to 180 degrees Homing Settings Homing method Select Zero position preset Position Count Settings Count mode Select Linear mode Encoder type Select Absolute encoder ABS When using MC_SyncLinearConveyor instruction described later to synchronize with a conveyor you need to setup the conveyor axis In that case please select the Rotary Mode of the Count Mode The axes group setting for the robot is completed by the above procedure Make settings for the Controller as required and then save the project and transfer it to the Controller 4 3 Setting of Link Length and Other Parameters for Robot Setting on User Program To move the robot you will need to the following settings by using the user program While the homes of all axes are defined execute MC_SetKinTransform instruction to set the link length and other parameters and workspace for the robot Document No 7001 7 0302347E 78 203 5 Homing Define the machine home of the robot For example the procedure for Delta3 is following 1 Move and fix each motors of the robot to their machine home Refer to the user s manual of the robot 2 With SysmacStudio reset the multi rotat
28. Control Function Module Function Module Source details details MU COMMON a Detection timing N ISU HON Source details axes group execution Minor Dealan N Log category System If MC Common is given for the source details operation is not affected If axis is given for the source details operation is not possible for relevant axis Relevant axis decelerates to a stop if it is in motion If axes group is given for the source details operation is not possible for relevant axes group If relevant axes group is in motion non robot axes group decelerates to a stop and robot axes group stops immediately Variable gt Datatype Name MC Common Minor Fault Occurrence Axis Minor Fault Occurrence Axes Group Minor Fault Occurrence Prevention When using instructions that cannot be Correct the program so that the re executed include a condition for the A motion control instruction that cannot be re executed was re executed Execute input variable does not Execute input variable so that it does not change to TRUE until the Busy output change to TRUE unless the Busy output variable from the instruction changes variable for the previous instruction is to FALSE None None FALSE Or stop the instruction before executing it again Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remar
29. Dispose of any Battery that has been dropped on the floor or otherwise subjected to excessive shock Batteries that have been subjected to shock may leak if they are used UL standards require that only an experienced engineer replace the Battery Make sure that an experienced engineer is in charge of Battery replacement Apply power for at least five minutes before changing the Battery Install a new Battery within five minutes at 25 C of turning OFF the power supply If power is not supplied for at least 5 minutes the saved data may be lost Unit Replacement We recommend replacing the Battery with the power turned OFF to prevent the CPU Unit s sensitive internal components from being damaged by static electricity and to prevent malfunctions The Battery can be replaced without turning OFF the power supply To do so always touch a grounded piece of metal to discharge static electricity from your body before you start the procedure After you replace the Battery connect the Sysmac Studio and clear the Low Battery Voltage error Make sure that the required data including the user program configurations settings variables and memory used for CJ series Units is transferred to a CPU Unit that was replaced and to externally connected devices before restarting operation Be sure to include the routing tables network parameters and other CPU Bus Unit data which are stored in the CPU Unit Disposal Dispose of the product
30. Error occurs Please do settings and programming so that the processing of the primary periodic task does not exceed one control period At the moment of starting this instruction maximum interpolation velocity and maximum interpolation acceleration are checked against a trajectory that is planned based on stopping workpiece Therefore it could happen that the velocity error or the acceleration error is detected after Phase 2 due to velocity of the conveyor The details are described below E Precautions for Safe Use After the adjustment of mechanical home of the robot please move the robot Do not use robot at out of the workspace without workspace check function If you use may cause damage to the robot If you want to stop the movement of the running in the instruction MC_SyncLinearConveyor please use the instruction MC_SyncOut Due to the way the maximum interpolation velocity of this command is calculated it could Document No 70017 0302347E 153 203 happen that in the Phase 2 or in Phase 4 the velocity error too fast or the acceleration error too much acceleration deceleration is detected even if those error was not detected at the moment of starting this instruction pre check This is due to the superposition of the Z profile with the XY profiles In Robot Ver 1 01 or later the velocity error too fast or the acceleration error too much acceleration deceleration are not detected when MaxVelocity or MaxAcc
31. Instruction Absolute Conveyor Conveyor Type 0 Absolute to execute Phase lt 6 Phase 6 MC_MoveTimeAbsolute Blending selected in BufferMode MC_SyncLinear Conveyor Blending selected in BufferMode Description Error When the instruction is executed an error is detected and the axes are stopped OK1 The instruction can be executed only when the transition mode is Transition with given start remain time OK2 The instruction can be executed when the transition mode is Transition with given start remain time or Transition with given start height Note other robot instructions can not be selected Blending in BufferMode input variable Document No 7001 7 0302347E 175 203 State Transition of Robot Instructions This section describes the axes group status _ MC_GRP 0 31 Status at the time when each robot instruction is executed The other statuses not mentioned below such as transition at the time of stopping by the MC_ Stop instruction are the same as those of NJ501 1 00 MC_MoveTimeAbsolute MC_SyncLinearConveyor Axes Group Disabled Disabled MC_SyncOut MC_GroupStop Deceleration topping Moving Stopping Moving MC_GroupStop 7 l Ka 2 MC_MoveTimeAbsolute re MC_SetKinTransform MC_SyncLinearConveyor Pd l 4 MC_GroupImmediateStop during execution 7 MC_GroupEnable Axes Group Disabled Disabled Stopped Standby ErrorDecelerationStopping ErrorStop
32. Name Axes Group Minor Fault Occurrence Prevention Set a correct trajectory data so that the command deceleration is lower than the MaxDecelerationT CP input variable Set a correct value for the MaxDecelerationT CP input variable 94230000Hex At multi execution of instructions level Recovery Error reset Log category System Not affected Data type Name _MC_GRPJ Obsr Active BOOL Axes Group Observation Occurrence Prevention Correct TransitionParameter as less than the time or distance of current When Multi execution current instruction is already over the set instruction TransitionParameter of buffered instruction None None Correct the timing of multi execution as the remaining time or distance of current instruction is greater than the TransitionParameter Set a correct TransitionParameter as less than the time or distance of current instruction Multi execute at the timing as the remaining time or distance of current instruction is greater than the TransitionParameter Terms and Conditions of Sale OMRON 12 Offer Acceptance These terms and conditions these Terms are deemed part of all quotes agreements purchase orders acknowledgments price lists catalogs manuals brochures and other documents whether electronic or in writing relating to the sale of products or services collectively the Products by Omron Electronics LLC and its subsidiary companies
33. Start Height The ransitionParameter is set as the following Name Data type Valid range Description TransitionParameter 0 LREAL Negative number Height of the transition positive number or 0 TransitionParameter LREAL Reserved 1 7 Document No 70017 0302347E 159 203 For Start Remaining Time The TransitionParameter is set as the following Name Data type Valid range Description TransitionParameter 0 LREAL Negative number Duration of the transition positive number or 0 TransitionParameter LREAL Reserved 1 7 e Other Specifications This instruction can be used when all of the following conditions are satisfied The kinematics must have been set by the MC_SetKinTransform instruction For all axes registered in the axes group the home must have been defined For all axes registered in the axes group must be turned ON For all axes registered in the axes group limit inputs must be OFF The axes group must be enabled Ph Ph Document No 70017 0302347E 160 203 e Outputting Status during Command Position Creation While the command position is created each status is output to the applicable member of Trajectory Status SMC_SYNC_TRAJ_STATUS During phase 5 and 6 robot and workpiece Synchronize and Insync will change to TRUE RemainTime Shows the remaining time of Trajectory Target Time T1 T2 T3 This is found by subtraction from T1 T2 T3 Phase Phases 0 to 6 Shows which trajectory i
34. TRUE and changes to FALSE After one period when Execute is FALSE e When this instruction is executed while there is an error Error When there is an error in the execution conditions or input When the error is cleared parameters for the instruction e In Out Variables Name Meaning Data type Valid range Description AxesGroup _sGROUP_REF Specify the axes group m Function Document No 70017 0302347E 92 203 This instruction is used to set a user coordinate system CS D 0 to 15 for a specified robot axes group Up to 16 user coordinate systems can be set for each robot When the user coordinate system is successfully registered it can be referred to by MC_GroupMon MC_MoveTimeAbsolute and MC_SyncLinearConveyor instructions after that When setting a user coordinate system the following values are set for the variables defined by the _SMC_COORD_ REF data type _ SMC_COORD_REF Pose 0 Pose 1 Pose 2 Pose 3 Pose 4 Pose 5 Name Description LREAL Positive number Position of home in the user coordinate negative number system UCS that is seen from X axis home in or 0 machine coordinate system MCS Tx mm LREAL Positive number Position of home in the user coordinate negative number system UCS that is seen from Y axis home in or 0 machine coordinate system MCS Ty mm LREAL Positive number Position of home in the user coordinate h number system UCS that is seen from Z a
35. The commands to the robot are realized by the function blocks specified in IEC 61131 1 including the PLCopen compliant instructions in a unified manner The instructions to facilitate application construction are supported as a standard feature 1 2 System Configuration System configuration diagrams of this package are provided below System Configuration 1 Box Packin fC e NJ501 40 00 EtherCAT Servo Inverter Counter Servo Sensor O PA M Indicate Motors J E Indicate Encoders Document No 70017 0302347E 34 203 system Configuration 2 Box Packin Using a camera NJ501 40 0 0 EtherCAT Vision Counter Sensor Servo Inverter System Configuration 3 Box Packin f wane EtherCAT n Za Zi E Servo V h N nee Counter A Servo gee Boxing Py Cylinders N Py oA f Y Cs We P H S a Document No 70017 0302347E 35 203 System Configuration 4 Alignment Lo Oe NJ501 40 00 f EtherCAT Servo Vision Inverter Counter Sensor Servo Document No 7001 7 0302347E 36 203 1 3 Startup Procedure When operating a Delta3 use the following procedure for startup The steps marked with are different from NJ501 1 00 Refer to NJ series CPU Unit Motion Control User s Manual Cat No W507 for other steps START Select a motor that has an absolute encoder and a brake Selection Installation Install the motor in such a ma
36. Unit Software User s Manual Gat No W501 The settings and operation of the CPU Unit and programming concepts for motion control are described Use ths manual together with the AJ series CPU Unit Hardware User s Manual Cat No W500 and N series CPU Unit Software User s Manual Cat No W501 The motion control structions are described When programming use this manual together with the W series CPU Unit Hardware Users Manual Cat No W500 NU series CPL Unit Software Users Manual Cat No W501 and Nu seres CPU Unit Motion Control Users Manual Cat No W507 Information on the built in EtherCAT port 6 pro vided This manual provides an introduction and provides information on the configuration features and setup Use ths manual together with the NJ seres CPL Unit Hardware User s Manual Cat No W500 and AU sernes CPU Unit Software User s Manual Cat Ne W501 Information on the built in EtherNet IP port is pro vided Information is provided on the basic setup tag data links and other features Use ths manual together with the NU seres CPL Unit Hardware User s Manual Cat No W500 and AU sernes CPU Unit Software User s Manual Cat Ne W501 Describes the database connection service NJ series Troublashoot W503 NJ50 OO ing Manual NJ301 O0O000 sysmac Studio Version 1 W504 SYSMAC Operation Manual SE2000 NX series Communica W519 NxX ECCUOOIO tions Coupler Unit User s Manual N
37. and Batteries according to local ordinances as they apply oH a The following information must be displayed for all products that contain primary lithium batteries with a perchlorate content of 6 ppb or higher when shipped to or transported through the State of California USA Perchlorate Material special handling may apply See www dtsc ca gov hazardouswaste perchlorate The CPU Unit contains a primary lithium battery with a perchlorate content of 6 ppb or higher Place the above information on the individual boxes and shipping boxes when shipping finished products that contain a CPU Unit to the State of California USA Document No 7001 7 0302347E 22 203 Precautions for Correct Use Storage Mounting and Wiring Do not operate or store the Controller in the following locations Operation may stop or malfunctions may occur Locations subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifications Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Take appropriate and sufficient countermeasures when installing the Controller in the following locations Locations subject to strong high frequency noise
38. and parameters top workspace Zu TCP of robot is necessary to be reachable to top of the workspace of the Z axis xm ym zm 0 0 Zu as shown in the figure below In this case angle of each motors are minimum under the conditions of moving TCP of the robot in the workspace and the all angles A0 A1 and A2 are same Fixed flame Link B dea Moving flame Link2 a S Workspace This condition can be judged by the following formula In addition 8 means the angle between the Link1 and Link 2 Lm gt 2 cos 6 Lf For example the angle B is 30 deg when the TCP of robot is reached to the top of the set workspace xm ym zm 0 0 Zu In this case the length of L1 and L2 must satisfy the following condition Lm Lf gt 1 732 round off to three decimal places Document No 70017 0302347E 53 203 2 Relationship between kinematics and parameters cylinder radius workspace Rcy TCP of robot is necessary to reach on the cylinder Rcy is set of workspace as shown in the figure below Ym Position of TCP In the MCS ga eee rene Xm Rcy Radius of the cylinde It can judge by confirming the satisfy of the following relationship between the kinematics parameters Rf Rm Lf and Lm mm and cylinder radius of the workspace Rcy mm Rf Rm 2Kr Lf Parameters Kr and d means as below Kr cos x arctan tan d cos 60 deg d arccos Lm Rcy cos 30 deg For example Rcyl 1000
39. and use y l MC_DefineCoordSystem instruction the defined coordinate system MC_DefineCoordSystem instruction None None Coordinate Transform Parameter Setting Out of Range 570C0000 hex The Pose coordinate transform parameter specified for CoordTransform input variable to a motion control instruction is out of the setting range Source details Detection timing a ae execution Motion Control Function Module Level Minor fault Recovery Logcategory System Not affected Name Axes Group Minor Fault Occurrence Prevention Correct the Pose coordinate Set a correct Pose coordinate transform transform parameter for the parameter for the CoordTransform input CoordTransform input variable variable Assumed cause The Pose coordinate transform parameter is out of the setting range None None 570F0000 hex Event code Calculation of inverse kinematics or direct kinematics is not possible Kinematics Calculation Failed At instruction execution during instruction execution Motion Control Function Module Source details Axes group Detection timing Minor fault Log category System Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion Name User program Continues Operation The kinematics parameter setting is not Correct the kinematics parameter correct Set a correct kinematics parameter Any one of the axes AO to A2 of the rob
40. are aborted The pre check is enabled only in case of the robot TCP is selected If other tool is selected the check is disabled MEvery motion cycle check During the command execution the instant velocity and the instant acceleration of the active TCP is calculated and compared against the maximum values If calculated instant velocity acceleration is higher than the maximum value an error occurs for the Group and all movement commands associated with this Group are aborted Exception At the first cycle of the command execution only instant velocity is checked Document No 70017 0302347E 65 203 lM Check during Transition During the transition between two commands the every motion cycle check is performed in each command Checking of maximum interpolation velocity acceleration during transition is shown in the follow chart cycle n ntt n 2 nt3 n 4 nt5 nt6 nt7 nt8 nt 9 n 10 n 11 n 12 n 13 To a amp b a amp b a Pre check b Every motion cycle check in Transition 3 3 11 Document No 70017 0302347E 66 203 Multi Execution Buffered Multi execution with Buffered is supported in Robot Ver 1 01 or later The behavior is based on multi execution of Motion Control Instructions 3 3 12 Multi Execution Blending Multi execution with Blending is supported in Robot Ver 1 01 or later No robotics movements can be blended without using transitions To blend robotics instructions transitions
41. axes group is different from the number of axes necessary for the specified robot kinematics type e The count mode of an axis registered in the axes group is not linear mode e For Delta3 The unit is not degree e The kinematics type is out of the setting range e A kinematics parameter is out of setting range e An expansion parameter is out of the setting range e The workspace type is out of the setting range e The workspace parameter is out of the setting range o T T es es ee S o o i o E A E E a a ER z e The coordinate system number is out of the setting range e The data type of the coordinate system number is invalid e The specified coordinate system number is not defined by the MC_DefineCoordSystem instruction e The Pose coordinate transform parameter is V out of the setting range e The kinematics parameter setting is not y correct e Any one of the axes AO to A2 of the robot is stopped at a position where direct kinematics calculation is not possible e The inverse kinematics calculation is not possible for the specified target position on the machine coordinate system The kinematics transform is not set e The kinematics transform is not set by the y for the specified axes group MC_SetKinTransform instruction e The velocity error detection value is out of the V setting range Event code 57130000 hex 57140000 hex 57150000 hex 57160000 hex 57170000
42. be a new cause of these event codes items marked with are added in the Meaning and Assumed Cause Columns Refer to the manual of NJ501 1 00 for the event codes not directly related to robot instructions Example Target Position Positive Software Limit Exceeded for axes The upper four digits of the event codes shown in the following table are output as Err D Error Code Event name Meaning 542B0000 hex 542C0000 hex 54320000 hex 543B0000 hex 543E0000 hex 543F0000 hex 54410000 hex Buffer Mode Selection Out of Range Coordinate System Selection Out of Range Transition Mode Selection Out of Range Motion Control Instruction Re execution Disabled Instruction cannot Be Executed during Multi axes Coordinated Control Multi axes Coordinated Control Instruction Executed for Disabled Axes Group Impossible Axis Operation Specified when the Servo is OFF The parameter specified for the BufferMode input variable to a motion control instruction is out of range The parameter specified for the CoordSystem input variable to a motion control instruction is out of range The parameter specified for the TransitionMode input variable to a motion control instruction is out of range An attempt was made to re execute a motion control instruction that cannot be re executed e An operation instruction was executed for an axis or an axes group that was in a coordinated multi axes motion e
43. before you clear the selection of this check box ey Version Information This error message is displayed by and the above option setting is available on Sysmac Studia version 1 02 Document No 7001 7 0302347E 15 203 Precautions for Safe Use Disassembly and Dropping Do not attempt to disassemble repair or modify any Units Doing so may result in malfunction or fire Do not drop any Unit or subject it to abnormal vibration or shock Doing so may result in Unit malfunction or burning Mounting The sliders on the tops and bottoms of the Power Supply Unit CPU Unit I O Units and other Units must be completely locked until they click into place after connecting the adjacent Unit connectors Installation Always connect to a ground of 100 or less when installing the Units A ground of 100 Q or less must be installed when shorting the GR and LG terminals on the Power Supply Unit Wiring Follow the instructions in the NJ series CPU Unit Hardware User s manual Cat No W500 to correctly perform wiring Double check all wiring and switch settings before turning ON the power supply Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Do not pull on the cables or bend the cables beyond their natural limit Do not place heavy objects on top of the cables or other wiring lines Doing so may break the cables Mount terminal blocks and connectors only after chec
44. br OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands 31 0 23 568 13 00 e www industrial omron eu Authorized Distributor Automation Control Systems e Machine Automation Controllers MAC Programmable Controllers PLC e Operator interfaces HMI Distributed I O Software Drives amp Motion Controls e Servo amp AC Drives Motion Controllers amp Encoders Temperature amp Process Controllers e Single and Multi loop Controllers Sensors amp Vision e Proximity Sensors Photoelectric Sensors Fiber Optic Sensors e Amplified Photomicrosensors Measurement Sensors e Ultrasonic Sensors Vision Sensors Industrial Components e RFID Code Readers Relays e Pushbuttons amp Indicators e Limit and Basic Switches Timers Counters Metering Devices e Power Supplies Safety e Laser Scanners Safety Mats Edges and Bumpers Programmable Safety Controllers Light Curtains Safety Relays Safety Interlock Switches I45 1 E 02 02 14 Note Specifications are subject to change 2014 Omron Electronics LLC Printed in U S A Printed on recycled paper amp
45. can be used while this instruction is in execution For details on multi execution of motion control instructions refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Multi execution of Motion Control Instructions of this document Document No 7001 7 0302347E 162 203 e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Error Code Execute InSyne i i Busy Active Command Aborted I J I J a aa i i Error ErrorlD 1640000 Error Code Document No 70017 0302347E 163 203 MC_InverseKin lt Robot Ver 1 01 gt The MC_InverseKin instruction performs inverse kinematics ST expression Instruction FB Graphic expression FUN FB MC _InverseKin_instance MC_InverseKin MC_InverseK Inverse i AxesGroup variable_name in Kinematics Position MC Inversekin XAAGMH ee AxeaGroup Enable Valid Busy Error ErrorlD Tealld Enable variable_ name Position variable_name ToollD variable_name AxesGroup gt variable_name Valid gt variable_name Busy gt variable_name Error gt variable_name ErrorlD gt variable_name AxesPosition gt variable _name OutWorkspace gt variable_name AxesPosition QulViorks pace m Variables e Input Variables Name Meaning Data type Valid range Default Descripti
46. error make sure that the EC PDSlavTbl Process Data Communicating Slave Table system defined variable for the EtherCAT master is TRUE for the node of the master axis before you execute the synchronized instruction Make sure that the slave of the mas ter axis is not disconnected during execution of a synchronized instruc tion Do not use an axis with an Absolute Encoder Current Position Calculation 0x64580000 occurred for the Failed error 64580000 hex as the conveyor axis and make suitable master axis in a synchronized instruc corrections to restore operation tion If the EC PDSlavTbl Process Data Communicating Slave Table system defined variable for the EtherCAT master of the conveyor axis is FALSE investigate the error in the conveyor axis and remove the cause EtherCAT process data communications are not established for the conveyor axis of the MC_SyncLinearConveyor The slave of the conveyor axis for the MC_SyncLinearConveyor was disconnected Check the slave of the conveyor axis and reconnect it if it was disconnected See if an Absolute Encoder Current An Absolute Encoder Current Position Poston Calculation Eailed eiror Calculation Failed error 0Ox64580000 was detected for the conveyor axis of a MC_SyncLinearConveyor None None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Even
47. error occurs A value of 16 0000 indicates normal execution Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting Output Variable Update Timing Name Timing for changing to TRUE Timing for changing to FALSE After one control period when Execute is FALSE Busy When Execute changes to TRUE When Done changes to TRUE CommandAborted When the axis group is in an error state When Execute is TRUE and changes to FALSE One period after the Execute became FALSE In Out Variables Name Meaning Data type Valid range Description Done When transformation is set successfully When Execute is TRUE and changes to FALSE When Error changes to TRUE Error When there is an error in the execution conditions or input When the error is cleared parameters for the instruction AxesGroup _sGROUP_REF Specify the axes group m Function This instruction is used to setup robot s kinematics workspace and the background check of maximum interpolation velocity acceleration and deceleration 1 For Kinematics Kinematics type robot s link length and home adjustment parameter 2 For workspace check Workspace type and workspace volume and enabling disabling the check 3 For the Background check of TCPO Maximum interpolation velocity maximum acceleration and maximum deceleration l Precautions for Correct Use When using MC_GroupSyncMoveAbsolute those are not checked that the Worksp
48. fault Log category System Operation is not possible for relevant axes group a pea Continues Operen Relevant axes group stops immediately if it is in motion Name Axes Group Minor Fault Occurrence Assumed cause Prevention The MC_SyncLinearConveyor instruction is not executed l l Execute the instruction when the phase of MC_SyncLinearConveyor instruction is 6 TrajStatus Phase 6 Execute the MC_SyncOut instruction a Cre ome a when TrajStatus Phase is 6 instruction is being executed but the robot is not in synchronization with the conveyor i e not Traj Status Phase 6 None None Kinematics Limit Exceeded 571E0000 hex The setting number of kinematics transform exceed the limit of setting number Motion Control Function Module Source details Axes group ee Operation is not possible for relevant axes group _ Relevant axes group stops immediately if it is in motion Name Axes Group Minor Fault Occurrence Prevention Set the number of robots 8 and fewer by MC_SetKinTransform instruction NJ501 4300 4400 4500 Set the number of robots 1 and fewer by MC_SetKinTransform instruction NJ501 4310 The setting number of kinematics Correct the program so that the setting number of kinematics transform does not exceed the limit transform exceeds the limit by MC_SetKinTransform instruction None None Event name Meaning Source Error attributes Effects System defined variables Cause an
49. function Lot number and Gives the lot number and serial number of the Unit serial number DDMYY Lot number LJ For use by OMRON xxxx Serial number M gives the month 1 to 9 January to September X October Y November Z December MAC address Gives the MAC address of the built in port on the Unit Document No 70017 0302347E 28 203 Confirming Unit Versions with Sysmac Studio You can use the Unit Production Information on the Sysmac Studio to check the unit version of the CPU Unit CJ series Special I O Units CJ series CPU Bus Units and EtherCAT slaves The unit versions of CJ series Basic I O Units cannot be checked from the Sysmac Studio CPU Unit and CJ series Units 7 Double click CPU Expansion Racks under Configurations and Setup in the Multiview Explorer Or right click CPU Expansion Racks under Configurations and Setup and select Edit from the menu The Unit Editor is displayed for the Controller Configurations and Setup layer 2 Right click any open space in the Unit Editor and select Production Information The Production Information Dialog Box is displayed Model information Lot number Mode information Lot number NJ501 4500 Ver 1 08 19711 Robot Ver 1 01 Hardware version DF DD D Software version SYSTEM 1 08 02 39101 BOOT 20131113 Output file IOPFP B 3 0 IOPFW 1 18 Runtime 669 Output file Show Outline Close Simple Display Detailed Display The following items are displayed
50. gt variable_name Velocity gt variable_name m Variables e Input Variables Name Meaning Data type Valid range Default Description Enable Enable BOOL TRUE or FALSE FALSE Reading the current values is started when Enable changes to TRUE CoordSystem Coordinate _eMC_RBT_ COORD mcRBT_ MCS Specify the coordinate system System _SYSTEM _mcRBT_UCS 1 Machine coordinate system MCS 3 User coordinate system UCS CSID Coordinate UINT Oto 15 Specify the ID of coordinate system System ID when a user coordinate system is specified ToollD Specify the selected Robot Tool for Robot Tool ID UINT 0 to 16 ae monitoring e Output Variables Name Meaning Datatype _ Valid range Description Valid Enabled BOOL When this value is TRUE the following current values Position and Velocity are valid eS or The current position is updated every period Busy eons BOOL TRUE or TRUE or FALSE TRUE when the instruction is acknowledged Error Mana R while there is an error ErrorlD Error Code WORD Contains the error code when an error occurs S a l A value of 16 0000 indicates normal execution Position Current Position _SMC_POSITION_REF Shows command current position and actual Velocity Current Velocity _sMC VELOCITY _REF ie Shows actual current velocity of each axis and TCP Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting _SMC_POSITION REF Member Wc Data type
51. input variable to a motion control instruction is outside the workspace The axis specified for the ConveyorAxis in out variable of a motion control instruction is not correct The target position specified for the Position input variable to a motion control instruction is outside the workspace The End Synchronization MC_SyncOut instruction cannot be executed The setting number of kinematics transform exceed the limit of setting number Kinematics The initialization of kinematics Initialization Error failed The command position is outside the workspace The current position at the time when the instruction is executed is outside the workspace Failed to catch up with the workpiece on the conveyor Document No 7001 7 0302347E 180 203 Assumed cause e The acceleration error detection value is out of the setting range e The trajectory target time is out of the setting range e The trajectory type is out of the setting range e The trajectory transition is out of the setting range e The trajectory distance is out of the setting range e The initial workpiece position is outside the workspace e The specified axis is registered in an axes group e An axis does not exist for the variable specified for the Axis input variable to the instruction e The display unit of the conveyor axis is not correct e The target position is outside the workspace e The MC_SyncLinearConveyor inst
52. modes are needed in order to have a smooth transition required to control the robot You can specify the TransitionMode input variable to the robot control instruction to select a transition method to use between instructions 3 3 12 1 When TransitionMode is set to Transition with given start remain time the buffered Transition with given start remain time instruction is superimposed on the current instruction The superimposed area is specified by T which is set in the transition parameters The transition starts Ty milliseconds before the current instruction finishes and the transition ends Ty milliseconds after the transition starts l Precautions for Correct Use If T7 is not dividable by the controller cycle time the time before transition will be extended to achieve whole number of controller cycles For example when T7 5ms and controller cycle 2ms the time before transition will last 6ms instead of 5ms When the remaining duration of the current instruction is smaller than T the transition starts immediately and an observation occurs When the duration of the buffered instruction is equal or smaller than Ty an error occurs The transition overlaps execution of 2 commands then resulting movement velocity acceleration and deceleration are different from when executing single command Velocity error or acceleration error may occur when using Transition even if they did not occur without Transition When MC_SyncLinearC
53. must ba provided in extemal control circuits sure for such problems external salty measures must be provided to ensure safe operation of the systam The GPU Unit will turn OFF all outputs from Basic Output Units in iha tHig Ing ceses Pan ero occurs in the power supply ihe power supaly connection becomes faulty a CPU watthdeg tener armor or CPU reset oocurs Ga major auh bevel Controler oror occurs While the GPU Unit ts on standby until AUN mode is entered afer tha power ls tamed N External safety measures must be provided to ensure sale operation of the elem even if ihe outputs tun OFF The Controller outputs may remain ON or OFF dua to dapoeition or burning Of the Gulput lays of destruction of fie outpul transishors AS a coumenea i extemal power supplies tor Haves of other devices are overloaded or ahort orcuiled he volage will drop outputs will turn OFF and the system may be Unabke to read inputs Provide external safety measures in controls wih mon itoring of extemal power supply voltage as required so that the system opar abes safely in auch a cage Document No 70017 0302347E 13 203 WARNING Fail safe Measures ninkerntied Oulpuls may Gotur when an ror ours in variable mierny or in me mi ry usad for C d s8ries Unis As countermeasure for such prob lame external salety measures musi be provided fo ensure sate operation ot the system Provide measures in the comm
54. of EtherCAT revisions of the master and slaves If you disable the revision check in the network settings use the Sysmac Studio to check the slave revision settings in the master and the actual slave revisions and then make sure that functionality is compatible in the slave manuals or other references You can check the actual slave revisions from the Sysmac Studio or on slave nameplates After you transfer the user program the CPU Unit is restarted and communications with the EtherCAT slaves are cut off During that period the slave outputs behave according to the slave settings The time that communications are cut off depends on the EtherCAT network configuration If the EtherCAT network configuration contains only OMRON EtherCAT slaves communications are cut off for a maximum of 45 seconds Before you transfer the user program confirm that the system will not be adversely affected If the Fail soft Operation parameter is set to stop operation process data communications will stop for all slaves when an EtherCAT communications error is detected in a slave For this reason if Servo Drives are connected the Servos for all axes will be turned OFF Make sure that the Fail soft Operation parameter setting results in safe operation when a device error occurs EtherCAT communications are not always established immediately after the power supply is turned ON Use the system defined variables in the user program to confirm that communications are
55. of X axis When it changes to FALSE the axis stops moving FALSE When this variable changes to TRUE PositiveEnable_X Positive Direction Enable of X Axis NegativeEnable_X Negative Direction Enable of X Axis PositiveEnable_Y Positive Direction Enable of Y Axis NegativeEnable_Y Negative Direction Enable of Y Axis PositiveEnable Z Positive Direction Enable of Z Axis NegativeEnable_ Z Negative Direction Enable of Z Axis PositiveEnable RX Positive Direction Enable of Rotation around X Axis NegativeEnable R Negative X Direction Enable of Rotation Around X Axis BOOL BOOL Axea Group PositiveEnable x Hegativeenable_ PostiveEnable_ HegatweEnable PositveEnabla 2 MeagatveEnable_2 PositiveEnable Rx MegatveEnable Rx PositiveEnable_R y Negeatvetnabla Ry PostiveaEnable Ri MagativeEnable RZ Velocity Acceleration Deceleration JogMode CSIO TodiD Axea Group Busy Error ErrorlO TRUE FALSE TRUE FALSE ST expression MC_RobotJog_instance AxesGroup variable_name PositiveEnable_X variable_name NegativeEnable_X variable_name PositiveEnable_Y variable_name NegativeEnable_Y variable_name PositiveEnable_Z variable_name NegativeEnable_ Z variable_name PositiveEnable_RX variable_name NegativeEnable_RX variable_name PositiveEnable_RY variable_name NegativeEnable_RY variable_name PositiveEnable_RZ variable_name NegativeEnable_RZ variable_name Veloci
56. robot kinematics type Position Kinematics Rx Ry Rz Me A eee Position Position Position 0 1 2 3 A Delta 3 Delta 3 R Delta 2 Ofmm Ofmm Ofmm X X om om om ig Ofmm X Omma X x X O the parameter is enabled X the parameter is filtered the value is ignored 7 2 2 Control of rotation The control of rotation is specified by the rotation around Z and rotational direction This functionality is enabled only when Delta3R Kinematics is attached 7 2 2 1 Rotation around Z Cartesian Position deal The rotation around Z is specified in the range from 180 deg to 180 deg The lower limit 180 deg is not reachable therefore the kinematics range of rotation around Z Rz is 180 180 180 pt py pp 5 0 REONE ea a E a A a A eee E an Carey EEE 180 eee Seren eee ee eee e ene eres Cae a See 900 720 540 360 180 0 180 360 540 720 900 Position of Axis A3 in ACS deg The position of Axis A3 has a finite range and its range is same as the range of the axis which count mode is linear in the Motion Control Function Module If this range is exceeded for robot operations home position is lost an error is raised for the AxesGroup To avoid exceeding the axis range and lose home position user can set software limits of the axis 7 2 2 2 Direction Direction input specifies the direction of ro
57. the value of the Set a correct value for the Acceleration of the robot MaxAccelerationTCP input variable MaxAccelerationTCP input variable None None Illegal Maximum interpolation deceleration 57480000Hex The Maximum Interpolation Deceleration value specified is out of range Motion Control Function Module Minor fault Log category System Operation is not possible for relevant axes group User program Continues Operation NA Relevant axes group stops immediately if it is in motion Variable Data type Name _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention Specified wrong value of Maximum Correct the value of the Set a correct value for the Deceleration of the robot MaxDecelerationTCP input variable MaxDecelerationTCP input variable None None Maximum interpolation velocity over passed X 645A0000Hex The commanded velocity of the default TCP overpasses the maximum robot velocity set in MC_SetKinTransform Motion Control Function Module Minor fault Log category System Operation is not possible for relevant axes group Continues Relevant axes group stops immediately if it is in motion User program Operation Data type Name _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention WeGic SGEHIEG Ha CcrORr data or Correct the trajectory data so that the sneer Hee on J y command velocity is lower than the MaxVelocityT CP input variable Set a correct traje
58. to detect the input signals resulting in incorrect operation Specify the setting of direction in the controller as same as the rotating direction of the Servo Drive Otherwise the robot may cause unexpected operation Choose the correct combination of Kinematics type and Workspace type which are set by MC_SetKinTransform Confirm if the workspace check works as expected After the adjustment of mechanical home of the robot please move the robot Do not use robot at out of the workspace without workspace check function If you use may cause damage to the robot If you want to stop the movement of the running in the instruction MC_SyncLinearConveyor should use the instruction MC_SyncOut In Robot Ver 1 01 or later the velocity error too fast or the acceleration error too much acceleration deceleration are not detected when MaxVelocity or MaxAcceleration are set to 0 or they are default Set correct values to MaxVelocity and MaxAcceleration in order to avoid unexpected velocity and acceleration deceleration In Robot Ver 1 01 or later the velocity error or the acceleration error are not detected at the moment of starting this instruction when ToollD is set other than 0 Please pay attention to that Document No 7001 7 0302347E 21 203 Battery Replacement The Battery may leak rupture heat or ignite Never short circuit charge disassemble heat or incinerate the Battery or subject it to strong shock
59. to the Axes Group Enabled Execute multi axes coordinated operation instructions only after enabling the axes group Execute the MC_GroupEnable Enable Axes Group instruction to change an axes group to the Axes Group Enabled state None None state Impossible Axis Operation Specified when the Servo is OFF 54410000 hex An operation instruction was executed for an axis for which the Servo is OFF Motion Control Function Module Source details Axis axes group Detection timing A Minor fault Log category The operation instruction will not start Variable Data type Name Data type S _MC_AX MFaultLvl Active BOOL Axis Minor Fault Occurrence _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention Correct the program so that the instruction is executed after the Servo is turned ON An operation instruction was executed for an axis for which the Servo is OFF If the EC PDSlavTbl Process Data Communicating Slave Table system defined variable for the EtherCAT master is FALSE remove the cause and execute the MC_Home instruction to preset home after _EC_PDSlavTbl changes to TRUE Home was preset with the MC_Home instruction for an axis for which EtherCAT process data communications are not established Attached information 1 Depends on the source details Axis O Axes group Number of the logical axis where the error occurred None Make sure to execute the axis operation
60. trans has elapsed is created The robot does not stop at this time The command position for moving the robot downward in the Z axis direction after T1 T2 has elapsed is created The robot does not stop at this time After T1 T2 T3 T3 Ttrans2 has elapsed the difference between command position X Y and actual current position of the workpiece X Y is compared When each difference is the following range or less InSync changes to TRUE If it is exceeded it is considered as an error and the axes are stopped At this time synchronization Disabled error error code 6 02hex occurs When control period is ims 0 1 mm When control period is 2ms 0 2 mm When control period is 4ms 0 4 mm Case 2 H1 lt 0 and T1 gt 0 S Current position of the robot i T2 T3 T3 Ttrans2 Trajectory in the case where the workpiece is stopped Z axis Trajectory in the case E E E mM where the workpiece is moving X axis When the robot position and ithe workpiece position tbecome same InSync ichanges to TRUE G InSync is TRUE in this range i Execution scope of the MC SyncLinearConveyor instruction When H1 lt 0 the command position for moving the robot downward in the Z axis direction is created In other cases same as Case 1 Document No 7001 7 0302347E 157 203 Case 3 T1 0 ae See Ae T2 T3 T3 Ttrans2 Trajectory in the case where the workpiece is stopped a Z axis Current
61. will need to enable the Robot Option SysmacStudio After this do the setting of various parameters by 2 steps as below Set an axes group for the robot Setting on Sysmac Studio Set link length and other parameters for the robot Setting on the user program This chapter describes this procedure The details of the procedure and details of the parameters to set Please refer the Related Manuals 4 1 Sysmac Studio Robot Option 4 1 1 Procedures of Registering Robot Option After following procedure have done to Sysmac Studio Robot option will be available for use The project that robot instructions are used is only available in SysmacStudio this Robot option has been enabled In addition even if this robot option disabled the project that robot instructions are used do not erase 1 Install Sysmac Studio with Standard Edition Refer Sysmac Studio Version 1 Operation Manual Cat No W504 for this procedure Note If Sysmac Studio is Trial Edition you cannot register Robot Option 2 Launch Sysmac Studio press License button in left side of start window and press Register License button E7 Offline oysmac Studi Module version 1 0 3 203 att New Project Copyright c OMRON Corporation 2011 anina All Rights Reserved OMRON Corporation From Open Project License Document No 70017 0302347E 73 203 3 Enter the license number of Robot option and press Register button Enter the license number Regi
62. workspace check function is enabled and it detects an error the axis Group is stopped Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 section L SBRscAA DAY EtA the details of workspace check function e Specifying the Trajectory The parameters to create the trajectory up to the target position are specified by MoveTrajType TrajTime MaxVelocity and MaxAcceleration of the Trajectory Data TrajData Select the third degree polynomial or the modified sine recommended in Movement Trajectory Type Selection Move TrajType X axis Y axis Z axis Target position Target position Target position Current position Current position Time Time Time Target time Target time Target time If any calculated commanded position is outside of the workspace when the workspace check function is enabled an error will be raised and the axes stopped When calculating a commanded position velocity and acceleration of the movement are calculated and checked against the command maximums If exceeding them the following errors will be raised Velocity Error Detection Value MaxVelocity and Acceleration Error Detection Value MaxAcceleration Document No 7001 7 0302347E 147 203 e BufferMode Buffer Mode Selection BufferMode specifies how to join the axis motions for this interpolation instruction and the previous interpolation instruction e There are the following six
63. 00 DefineToolTransform_Done DefineToolTransform_ToolTransform 4 Move the robot to the stand by position Execute MC_MoveTimeAbsolute Ins_MoveTimeAbsolute MC_MoveTimeAbsolute MoveTimeAbsolute_Execute MC_Group000 MoveTimeAbsolute_Done MoveTimeAbsolute_Position MoveTimeAbsolute_Direction MoveTimeAbsolute_TrajData MoveTimeAbsolute_CommandAborted MoveTimeAbsolute_CoordSystem MoveTimeAbsolute_Error MoveTimeAbsolute_Cs MoveTimeAbsolute_ErroriD MoveTimeAbsolute_TransitionParameter TransitionParameter 5 Make the robot to catch up with the workpiece Execute MC_SyncOut MC_Group000 SyncLinearConveyor_TrajStatus Phase SyncOut_TrajDatz UINT 6 Change Status SyncOut_Busy End_conveyor End_conveyor Move Target Gruop MC_Group000 MC_Group000 p SyncLinearConveyor_Execute MC_Axis004 i SyncLinearConveyor_InSync SyncLinearConveyor_Busy SyncLinearConveyor_Active SyncLinearConveyor_CoordSystem j SyncLinearConveyor_TrajStatus SyncLinearConveyor_ SyncLinearConveyor_ToolID SyncLinearConveyor_TransitionParemeter TransitionParameter 9 Troubleshooting 9 1 Error Table Document No 7001 7 0302347E 178 203 This section provides a list of event codes that may occur when a robot instruction is executed or during execution of robot instructions The event codes marked with are the new event codes for NJ501 4 00 The event codes for NJ501 1 00 also occur When robot instructions can
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65. 2347E 100 203 MC_MoveTimeAbsolute lt Robot Ver 1 00 gt The MC_MoveTimeAbsolute instruction creates command values to reach a specified target position in a MC MoveTimeAbsolute AxesGroup Execute Position TrajData CoondSystem CSID Bufferhiode Transitonhiode TransiionParameter O _eMC_RBT_COORD_S YSTEM Coordinate UINT System ID eMC BUFFER MODE Axes Group Done Busy Active Commanmd borted Error ErorlD __Meaning Data type Valid range Default ST expression MC_MoveTimeAbsolute AxesGroup variable_name Execute variable_ name Position variable_name TrajData variable_name CoordSystem variable_name CSID variable_name BufferMode variable_name TransitionMode variable_name TransitionParameter variable_name AxesGroup gt variable_ name Done gt variable_name Busy gt variable_name Active gt variable_name CommandAborted gt variable_ name Error gt variable_name ErrorlD gt variable_name Description TRUE or FALSE FALSE The instruction is executed when Execute changes to TRUE _mcRBT_MCS 3 _mcRBT _UCS Oto 15 0 _mcAborting Transition _eMC_TRANSITION M 0 mcTMNone Mode ODE Transition ARRAY 0 7 Negative number Set the parameters for transition Parameters OF LREAL on number or Reserved ee ee 0 5 Negative number Specify the target position Position OF LREAL Sai number or For Delt
66. 3 67040000 hex The command acceleration exceeded the acceleration error detection value specified for the TrajData input variable to a motion control instruction Acceleration Error Detected At instruction execution during instruction execution Motion Control Function Module Source details Axes group Detection timing Minor fault Log category System Operation is not possible for relevant axes group Continues Relevant axes group stops immediately if it is in motion User program Operation Data type Name _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Correction Prevention Set the parameters so that the command acceleration of the trajectory becomes lower than the acceleration error detection value Assumed cause The command acceleration in the combination of the parameters trajectory target time and distance target position command current position specified for the TrajData input variable is too high Correct the parameters so that the command acceleration becomes lower a Set the input parameter to the instruction The parameter specified for the TrajData mout varable Ie notconeci Correct the parameter so that the valid range of the input p variable is not exceeded The acceleration error detection value is Correct the acceleration error Set an appropriate acceleration error too low detection value detection value None None Command Current Velocity Ax
67. 3 Modified constant velocity onstVel TrajTime Trajectory Target ARRAY 0 7 Specify the time to create command current Time OF UINT positions from current position to target position The unit is ms Traj Transition Trajectory ARRAY 0 7 Specify the time ratio to start the movement from Transition Ratio OF UINT current operation to next operation within this command The unit is TrajDistance Trajectory ARRAY 0 7 Negative number Specify the distance for upward downward Distance OF LREAL oo number or movement from current position to target position The unit is mm MaxVelociy Velocity Error LREAL Pos number or Specify the velocity at which a velocity error too Detection Value fast is detected when creating a command current position of active tool The unit is mm s MaxAcceleration Acceleration LREAL Positive number or Specify the acceleration rate at which an Error Detection 0 acceleration error too much Value acceleration deceleration is detected when creating a command current position of active tool The unit is mm s e Output Variables Name Description InSync In Sync BOOL TRUE or FALSE TRUE when the TCP of robot catches up with the workpiece on the conveyor Busy BOOL TRUE or FALSE TRUE when the instruction is acknowledged Active Controlling BOOL TRUE or FALSE TRUE when the axes group is being controlled CommandAborted BOOL TRUE or FALSE TRUE when the instruction is aborted
68. 70017 0302347E 70 203 3 3 13 Trajectory types of time specified move With a movement in the specified time the trajectory type can be selected 3 3 13 1 Polynomial function 3 degree It is a polynomial function of 3 degree with start end velocity and acceleration are 0 In Robot Ver 1 00 only this type can be selected 3 Position R Velocity Acceleration 1 2T T 3 3 13 2 Modified Sine Modified sine is based on a combination of sinusoidal trajectories It allows controlling acceleration and belongs to Universal CAM Curve family This trajectory type is recommended to be used with Transitions enabled Used for high velocity medium load equipment Used to reduce the effect on the motor for load variations This type can be selected in Robot Ver 1 01 or later Position Velocity Acceleration 1 8T 1 2T 7 8T T Document No 7001 7 0302347E 71 203 3 3 13 3 Modified Constant Velocity Modified constant velocity is based on combination of sinusoidal and linear trajectories It has a constant velocity during one half of trajectory time It belongs to Universal CAM Curve family Used for medium velocity high load equipment This type can be selected in Robot Ver 1 01 or later Position Velocity Acceleration 4M6T 1 4T 3 47 15 16 T Document No 7001 7 0302347E 72 203 4 Robot Function Settings In order to use the robot function NJ501 4 OOL you
69. A series NX Units Users Manuals W521 NX IDOOoOoO NX AODOOO Nx ocolooo Nx opo0o00 Nx ADOIOOO NX DADOOO NX TSO000 NX PD1OOO NX PFOOOO NX PCoOO00 NX TBXOO NX ECOOOO NX ECSOOO NX PG0OOO W522 W523 w524 MX series Data W525 NX OOOOO Reference Manual Gx series EtherGaAT W488 Gx IDDOOO Stave Units Users Mar Gx ODOINOIOIC ual Gx OCULILILI Gx MDOOOO Gx ADOOOO GX DAOOCOC GxX ECLILILILI AWT l DOO XWTEODOO 9 5 series AC Servornot ers Servo Drives User s Manuas Revision History RevisonCode 573 RE amp 8mM K R8D KNO E CT CER Servomotors S ervo Drives IS76 R amp S M KL RE amp 8D KNLI ECT munications 577 R88L EC L R8D KNO ECT L Learning about the operat ng procedures and func tions of the Sysmac Studio Leaning how to use an NX series Communications Coupler Unit and Slave Ter minals Learning how to use NX Units Referring to the list of data required for N series unit system configuration Learning how to use the EtherCAlT remote VO terminals Leaning how to use the AC with built in Ether AT Corm Document No 7001 7 0302347E 31 203 Learning about the errors thatrnay be detected in an NJ series Controller Description Concepts on managing errors that may be detected nan NJ sere s Controller and nfoma tion on individual errors are described Use this manual together with the Nu seres CPL Unit Hardware User s Manual Cat No W500 and N series CPU Un
70. Acceleration Acceleration LREAL Positive number Specify the acceleration rate at which an Error Detection acceleration error too much Value acceleration deceleration is detected when creating a command current position of active tool The unit is mm s e Output Variables Name Meaning Data type Valid range Description Done BOOL TRUE or FALSE TRUE when the instruction is completed Busy BOOL TRUE or FALSE TRUE when the instruction is acknowledged Active Controlling BOOL TRUE or FALSE TRUE when the axes group is being controlled CommandAborted Command BOOL TRUE or FALSE TRUE when the instruction is aborted Aborted Error Error BOOL TRUE or FALSE TRUE while there is an error ErrorlD Error Code WORD Contains the error code when an error occurs A value of 16 0000 indicates normal execution Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting Output Variable Update Timing Name Timing for changing to TRUE Timing for changing to FALSE Done e When Execute is TRUE and changes to FALSE e After one control period when Execute is FALSE Busy When Execute changes to TRUE e When Done changes to TRUE e When Error changes to TRUE e When CommandAborted changes to TRUE Active When the axis starts moving e When Done changes to TRUE e When Error changes to TRUE e When CommandAborted changes to TRUE CommandAborted e When this instruction is aborted because
71. CP goes out of the workspace it is considered as an error and the axis operation is stopped When a robot instruction is executed the TCP position is checked at the following four timing Is the current stop position i e actual current position inside the workspace Is the target position inside the workspace Is the command current position created every control period inside the workspace During stop of the robot the current actual position is in the workspace To perform the workspace check the user needs to set the necessary parameters for the axes group The MC_SetKinTransform instruction described later is used for the axes group settings and enabling the workspace check 3 3 2 1 Setting of Workspace Type Delta3Workspace and Delta2Workspace type is prepared ED Precautions for Safe Use Choose the correct combination of Kinematics type and Workspace type which are set by MC_SetKinTransform Confirm if the workspace check works as expected Document No 7001 7 0302347E 49 203 3 3 2 2 Workspace parameters for Delta3 Robot The Delta3 workspace is a combination of a cylinder and a frustum cone The following parameters are set Also this workspace type can be used for Delta3R robot Zu Front position of the cylinder position from the home of Z axis mm Rey Radius of the cylinder mm Hcy Height of the cylinder mm Rco Radius of the frustum cone of underside mm Hco Height of the frustum cone mm
72. CS and User Coordinate System UCS can be used for robots Robot tool Robot tools can be set for each robot Reads the current position and current velocity of the robot Time specified absolute positioning Moves the robot to a specified position in a specified time command Synchronization with conveyor Makes the active TCP follow a workpiece on the conveyor Inverse kinematics Transforms the coordinate value X Y Z of the robot s TCP to the coordinate values of each axis Robot Jog Jogs a robot defined by an Axes Group according the selected target velocit Select a transition method to use between instructions in order to lessen this shock 1 4 2 Performance Specifications Delta3 in Robot Ver 1 00 or later POM Ona ROROLTYRE Delta3R Delta2 in Robot Ver 1 01 or later OMRON G5 series Servo Drives with built in EtherCAT communications Controllable Servo Drives OMRON GxX series GX EC0211 EC0241 EtherCAT Remote I O Terminals l OMRON NX series NX EC0122 EC0222 EC0142 Incremental Encoder Input Units Recommended encoder input terminals 5 OMRON Nx series NX ECS112 ECS212 SSI Input Units Control method Control commands using EtherCAT communications Control modes Position control Velocity Control and Torque control Masa UA nimberor 64 axes when using NJ501 4500 saniralledsasce 32 axes when using NJ501 4400 16 axes when using NJ501 4300 4310 64 axes max when using NJ501 4500 Number of Single axi
73. Cat No W505 for details Motion Control Confirm the axis number carefully before you perform an MC Test Run The motor is stopped if communications are interrupted between the Sysmac Studio and the CPU Unit during an MC Test Run Connect the communications cable between the computer and CPU Unit securely and confirm that the system will not be adversely affected before you perform an MC Test Run The motor is stopped if communications are interrupted between the Sysmac Studio and the CPU Unit during an MC Test Run Connect the communications cable between the computer and CPU Unit securely and confirm that the system will not be adversely affected before you perform an MC Test Run Always execute the Save Cam Table instruction if you change any of the cam data from the user program in the CPU Unit or from the Sysmac Studio If the cam data is not saved the previous condition will be restored when the power is turned ON again possibly causing unexpected machine operation The positive drive prohibit input POT negative drive prohibit input NOT and home proximity input DEC of the Servo Drive are used by the MC Function Module as the positive limit input negative limit input and home proximity input Make sure that the signal widths for all of these input signals are longer than the control period of the MC Function Module If the input signal widths are shorter than the control period the MC Function Module may not be able
74. Document No 7001 7 0302347E 1 203 OMRON Machine Automation Controller Robot supported NJ Series CPU Unit User s Manual NJ501 4L OLI always in control Cat No l45I E 02 Document No 7001 7 0302347E 2 203 OMRON 2012 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Document No 7001 7 0302347E 3 203 Introduction Thank you for purchasing an NJ series CPU Unit This manual contains information that is necessary to use the NJ series CPU Unit Please read this manual and make sure you understand the functionality and performance of the NJ series CPU Unit before you attempt to use it in a control system Keep this manual in a safe place where it will be available for reference during operation
75. EF ActualVelocityTCP Name ActualVelocityT CP ActualVelocity Name AcutalVelocity 0 AcutalVelocity 1 AcutalVelocity 2 AcutalVelocity 3 AcutalVelocity 4 AcutalVelocity 5 Document No 7001 7 0302347E 140 203 For Delta3R the following values are read out to the variables defined by the sMC POSITION REF and _SMC_VELOCITY_REF data types Data type Valid range LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 Data type Valid range LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 Data type Valid range 0 Data type Valid range LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 LREAL Negative number positive number or 0 Description Command current position of X axis mm Command current position of Y axis mm Command current position of Z axis mm Command cur
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77. Position Offset 0 Offset 1 Offset 2 fset 3 Offset 4 Offset 5 Delta3 Delta2 O the parameter is enabled X the parameter is filtered the value is ignored 3 3 7 Inverse Kinematics The machine coordinate system MCS position of the robot s TCP is transformed to the axis coordinate system ACS position of each axis of the robot This command is used when the user wants to move the robot on a specific path The MC_InverseKin instruction described later is used for inverse kinematics Document No 70017 0302347E 60 203 3 3 8 Robot Tool In Robot Ver 1 01 or later the system provides Robot Tool support for a robot It allows to define and to select robot tools to an existing robot system allows definition up to 16 tools The ID 0 is reserved to refer to the default TCPO IDs from 1 to 16 are enabled to be defined for each robot TCP with ID i is described as TCPi Once a robot tool has been defined it is possible to select it To define a robot tool in the system Tx Ty Tz Rx Ry and Rz should be defined with respect to the TCSO Y TCPi Ztcso XTCSO YTCSO y B Q XTCSO YTcso Ytcso Ztcso ZTCSO XTCSO y B a Rotation around X Rotation around Y Rotation around Z Axis Rx Axis Ry Axis RZ When a tool is defined and depending on type of kinematics some of the parameters are filtered Parameters On y me e ESESESESESES e e el efx xfo_ po x ot x x x O th
78. REAL Negative number Actual current velocity of Z axis Vz mm s positive number or 0 AcutalVelocity 3 5 LREAL 0O Reserved When the Valid output has changed from TRUE to FALSE the value of the Position and Velocity Output variables are retained This instruction can be used when all of the following conditions are satisfied The kinematics must have been set by the MC_SetKinTransform instruction For all axes registered in the axes group the home must have been defined When a user coordinate system is used the coordinate system ID which is specified by the MC_DefineCoordSystem instruction must be set Document No 70017 0302347E 98 203 e Timing Charts Enable Valid Busy Error ErrorlD i i oe No vala Position i Actual Position No Valid Document No 70017 0302347E 99 203 e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Enable Valid Busy Error ErroriD Command Position Actual Position specified time Instruction FB Graphic expression _ MC _MoveTimeAbsolute_instance MC_MoveTi Time specified meAbsolute Absolute Positioning a Variables e Input Variables Name Execute C Position TrajData CoordSystem Coordinate System CSID BufferMode Buffer Mode Selection TransitionMode TransitionParameter Document No 70017 030
79. Robot Tool is defined against a valid MCS It means that each Robot Tool of one robot must be defined again by executing MC_DefineToolTransform for each Robot Tool if the MC_SetKinTransform was executed again on that robot Document No 70017 0302347E 135 203 e Timing Charts Execute Done Busy _ Command Error o CoordTransform 4 Document No 70017 0302347E 136 203 e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Execute Done naaa Busy Command Aborted _ _ Error ErrorlD 1640000 Error Code Document No 7001 7 0302347E 137 203 MC GroupMon lt Robot Ver 1 01 gt The MC_GroupMon instruction reads the current position and current velocity of a robot ST expression Instruction FB Graphic expression _ _MC_GroupMon_ instance MC_GroupM_ Monitor on Axes Group MC_GroupMon AxesGroup variable_name Enable variable_name MC GroupMon AKEL OUP ammam Enable Coord System CSIO Tali Axes Group alia Buey Error Error lO Position VWalocty CoordSystem variable_name CSID variable_name ToollD variable _name AxesGroup gt variable_name Valid gt variable_name Busy gt variable_name Error gt variable_name ErrorlD gt variable_name Position
80. TION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not Document No 70017 0302347E 8 203 intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use
81. The NJ series Controllers comply with the following shipbuilding standards Applicability to the shipbuilding standards is based on certain usage conditions It may not be possible to use the product in some locations Contact your OMRON representative before attempting to use a Controller on a ship Usage Conditions for NK and LR Shipbuilding Standards The NJ series Controller must be installed within a control panel Gaps in the door to the control panel must be completely filled or covered with gaskets or other material The following noise filter must be connected to the power supply line Noise Filter Manufacturer Cosel Co Ltd TAH 06 683 Usage in the robot system NJ501 4300 4310 4400 4500 does not conform to safety regulations and standards for industrial robots In this reason if you use the NJ501 4300 4310 4400 4500 for robot systems including industrial robots you ensure reliably conformance to safety regulations and standards of industrial robots and please implement the measures as necessary to ensure safety Trademarks Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products Windows Windows Vista are registered trademarks of Microsoft Corporation in the USA and other countries EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany The SD logo is a trad
82. U Unit User s Manual 70017 0302347 Section 3 3 1 for details Reserved Description 100 Delta3 Delta3R Description Top surface position of cylinder Zu mm Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Section 3 3 2 for details Radius of the cylinder Rey mm Height of the cylinder Hcy mm Radius of the frustum cone Aco mm Height of the frustum cone Hco mm Reserved For Delta3R the description above is also valid but the kinematics type must be changed to 101 _mcDelta3Type2 _sMC_KIN_REF KinType Name KinT ype KinParam Name KinParam 0 KinParam 1 KinParam 2 KinParam 3 KinParam 4 7 ExpansionParam Document No 7001 7 030234 7E 129 203 For Delta2 the following values are set for the variables defined by the _sMC KIN REF and _SMC_WORKSPACE_REF data types Data type Valid range _eMC_KIN_ 100 _mcDelta3T TYPE ype 101 _mcDelta3T ype2 102 mcDelta2T ype1 Data type Valid range LREAL Positive number REA l _ _____ For Delta2 this parameter cannot be used Name ExpansionParam 0 7 _sMC_WORKSPACE_ REF Workspace Type Name Workspace Type WorkspaceParam Name WorkspaceParam 0 WorkspaceParam 1 WorkspaceParam 2 WorkspaceParam 3 WorkspaceParam 4 7 Data type Valid range PLREAL Data type Valid range _eMC_WORKSPA 100 CE_TYPE _mcDelta3Works pace 101 _mcDelta2Works pace Data type Valid rang
83. Valid range variable CommandPosition Command ARRAY 0 5 Negative number Shows the command current position of TCP on Current Position OF LREAL positive number or the specified coordinate system 0 ActualPosition Actual Current ARRAY 0 5 Negative number Shows the actual current position of TCP on the Position OF LREAL positive number or specified coordinate system 0 Function Document No 70017 0302347E 138 203 _sMC_VELOCITY_REF variable ActualVelocityTCP Shows the actual current velocity of TCP Current Velocity 0 The unit is mm s ActualVelocity Actual Current ARRAY 0 5 Velocity OF LREAL Negative number Shows the actual current velocity of each axis positive number or when viewing the actual velocity of TCP on the 0 specified coordinate system The unit is mm s Output Variable Update Timing Name Timing for changing to TRUE Timing for changing to FALSE Valid When reading the current values is completed When Error changes to TRUE successfully When Enable changes to TRUE When Enable changes to FALSE e When Error changes to TRUE parameters for the instruction e In Out Variables Name Data type Valid range Description AxesGroup _sGROUP_REF Specify the axes group m Function This instruction is used to read the current position command current position and actual current position and the current velocity actual TCP current velocity and actual current velocity of a spe
84. When Error changes to TRUE successfully J e When Enable changes to TRUE e When Error changes to TRUE parameters for the instruction e In Out Variables Name Data type Valid range Description AxesGroup _sGROUP_REF Specify the axes group m Function This instruction is used to read the current position command current position and actual current position and the current velocity actual TCP current velocity and actual current velocity of a specified robot axes group on a specified coordinate system Command Actual Current position and Actual TCP Current Velocity Actual Current Velocity on the specified coordinate system are calculated by using direct kinematics from the command current position and actual current position In this reason the output variables Position Velocity of this instruction includes the calculation error This calculation error is affected on the length of the robot link encoder resolution and reduction ratio Command current position will be updated every control period when the group is TRUE and output variable is TRUE The command current position value is the latest value when the axis group was Enabled and output variable Valid was TRUE Actual current position Actual TCP Current Velocity and Actual Current Velocity are updated every control period even group is Enabled or Disabled when the output variable Valid is TRUE For Delta3 the following values are read out to the vari
85. You can find out the cause of the error by referring to the value output by Error D Error Code Execute Done _ _ _ _ _ gt _ _ _ _ _ _ lt _ _ lt _ _ _ _ Busy Active Command Aborted Se rr Error ErrorlD 1640000 X Error Code Document No 70017 0302347E 105 203 MC_SyncLinearConveyor lt Robot Ver 1 00 gt The MC_SyncLinearConveyor instruction starts creation of command values to catch up with a specified workpiece on a conveyor Instruction ees eae Graphic expression ST expression J MC_SyncLin Start MC_SyncLinearConveyor _ instance earConveyor Conveyor Synchroniz ation MC_SyncLinearConveyor AxesGroup variable_name MC SyvncLinear ony evor ConveyorAxis variable_name im G Execute variable_name AxesGroup Axestroup InitWorkpiecePosition variable_name I ConveyorAsis ConveyorAxis TrajData variable_name CoordSystem variable_name CSID variable_name 7 lrettorkpiecePasition Busy BufferMode TrajData Active variable_name CoordSystem a TransitionMode 5 arnan Aber e variable_name 7 1 SID Error AxesGroup BufherMocke Eroro gt variable_name ConveyorAxis Transibonhiode Trajstatus variable_name InSync gt variable_name Busy gt variable_name Active gt variable_name CommandAborted gt v
86. a Tool Coordinate System Transformation Pose of wrong values e TransitionMode is not possible to implement with the selected parameters Transition Parameters e TransitionMode is not possible to implement for the selected parameters Trajectory Data of the buffered Instruction e EnableOffset is TRUE when MC_SyncLinearConveyor has not reached to Phase6 e Trajectory type of buffered instruction is difference to current instruction e The current instruction does not support the selected Transition Mode with the buffered instruction J J 7 e Specified wrong value of Maximum Deceleration of the robot e Wrong specified trajectory data of current y instruction e Specified value for MaxVelocity TCP input variable of MC_SetKinTransform is wrong or too low e Wrong specified trajectory data of current instruction e Specified value for MaxAccelerationT CP input variable of MC_SetKinTransform is wrong or too low e Wrong specified trajectory data of current instruction e Specified value for MaxDecelerationT CP input variable of MC_SetKinTransform is wrong or too low e When Multi execution current instruction is already over the set TransitionParameter of buffered instruction Coo T ee es es es rs T eG QO OS i a T ee S es es se Ge GQ f y O a Document No 70017 0302347E 183 203 92 Error Code Details Event name Meaning Source Error attributes Effects System defined variables Cause and
87. a3 the unit is mm Trajectory _SMC_MOVE_TRAJ_R Specify the parameters for creating Data EF command current positions up to the target position Specify the coordinate system of the target position 1 Machine coordinate system MCS 3 User coordinate system UCS specified Specify the behavior when executing more than one motion control instruction 0 Aborting T the path of motion ae Transition disabled Specify the ID of coordinate system when a user coordinate system is _sMC_MOVE_TRAJ REF eee Data type Valid range Function Movement _eMC_MOVE_TRAJ__ 0 _mcPolynomial3 Specify the trajectory type to create command Trajectory Type TYPE Member variable MoveTrajT ype TrajTime MaxVelociy MaxAcceleration Selection Document No 7001 7 0302347E 101 203 current position of each axis Only the third order polynomial is supported in Robot Ver 1 00 0 Third order polynomial Trajectory Target UINT Positive number Specify the time to create command current Time positions from current position to target position The unit is ms Velocity Error LREAL Positive number Specify the velocity at which a velocity error too Detection Value fast is detected when creating a command current position The unit is mm s Acceleration LREAL Positive number Specify the acceleration rate at which an Error Detection Value e Output Variables Meaning Data type Valid range Description Na
88. ables defined by the sMC POSITION _REF and _SMC_VELOCITY_REF data types _SMC_POSITION_ REF CommandPosition Name Data type Valid range Description CommandPosition 0 LREAL Negative number Command current position of X axis mm positive number or 0 CommandPosition 1 LREAL Negative number Command current position of Y axis mm positive number or 0 CommandPosition 2 LREAL Negative number Command current position of Z axis mm positive number or 0 CommandPosition 3 5 LREAL 0 Reserved ActualPosition Name Data type Valid range Description ActualPosition 0 LREAL Negative number Actual current position of X axis mm positive number or 0 ActualPosition 1 LREAL Negative number Actual current position of Y axis mm positive number or 0 ActualPosition 2 LREAL Negative number Actual current position of Z axis mm positive number or 0 ActualPosition 3 5 LREAL O Reserved _sMC_VELOCITY_REF Document No 70017 0302347E 97 203 ActualVelocityTCP Name Data type Valid range Description ActualVelocityT CP LREAL Positive number or Actual current velocity of the TCP 0 TCP velocity SQRT Vx Vy Vz mm s ActualVelocity Name Data type Valid range Description AcutalVelocity 0 LREAL Negative number Actual current velocity of X axis Vx mm s positive number or 0 AcutalVelocity 1 LREAL Negative number Actual current velocity of Y axis Vy mm s positive number or 0 AcutalVelocity 2 L
89. acceaateeancennneceasesis 81 7 1 3 Starting and Stopping a Robot cee cccscecceccesseeeceeeseeeceaeeeeceeseeecseuseeessaeeesesgeeessegseeessaseeesssageees 82 FIA AXES Group Vaia 0 o eee eee eee ee ee ee ee ee eee ee ee 82 LZ MOWO Spec atarget POSTON Yate eee eee ee eee a 83 Zev We OSIM SOO VANADO aaa ieed ereeewiociexcaremesemenewaniticaenenani sane cians E AAAA 83 Te GOMMOlOl TOO ccs cus cacecac cach cect cccucadenaciecwmecediacacececisadeescamacadntuelenedeoudenastetetecadetncecacacatecataceetaactanetanatecs 83 7 3 When using with Robot Ver 1 01 a project which was created in Robot Ver 1 00 ceceeeees 85 TB CUA G sateen ean eee ee cer Secession ea etc te arenes 85 MC_SetKinTransform lt Robot Ver 1 00 gt 0 0 cccccceececceseeeceececceceeceaeeeseaeeeseaeeeseaeeessaeeessaeeesseeessgeessegs 86 PONS LST COO A ye iM er se sg eel ctl cate aca clece dattaclceer dice toe ste aMe 91 WIG GroupMon lt RODO Ver TOOS cine 95 MC _MoveTimeAbsolute lt RODO Ver 1 00 EN E A 100 MOC SyncLinearConveyor lt RoDOtrVer 1 OOF in en sinc acd sted deedetedlacdiandiaediaeddaed ited teei es 105 NG COU erae 116 MC AINVErSEKIN S RODO VEF T OOS en ee ee eee eee eee Peer ete PE OE ne ener ner eee ee ee ene eer enon ares 122 MC GROUPS YACMOVSAD SONICS ere EEEE EEEE TERIEN EEEE 125 MC Setkiniranstorn lt RODCt Vier TOT ccc clasts es 126 MC_DefineToolTransform lt Robot Ver 1 01 gt cccccccccccccseceeeeeceeceeeeeseeeeeseeeeeseeeee
90. ace MaxVelocityTCP MaxAccelerationTCP and MaxDecelerationTCP which are set by this instruction Please pay attention to that _sMC_KIN_REF KinType Name KinT ype KinParam Name KinParam 0 KinParam 1 KinParam 2 KinParam 3 KinParam 4 7 ExpansionParam Name ExpansionParam 0 ExpansionParam 1 7 _sMC_WORKSPACE_REF WorkspaceType Name Workspace Type WorkspaceParam Name WorkspaceParam 0 WorkspaceParam 1 WorkspaceParam 2 WorkspaceParam 3 WorkspaceParam 4 WorkspaceParam 5 7 Document No 7001 7 0302347E 128 203 For Delta3 the following values are set for the variables defined by the _sMC KIN REF and _SMC_WORKSPACE_REF data types Data type Valid range eMC KIN _ TYPE 100 _mcDelta3T ype 101 _mcDelta3T ype2 102 mcDelta2T ype Data type Valid range LREAL Positive number LREAL LREAL LREAL LREAL O0 se O Data type Valid range LREAL 0 to 360 LREAL oe Data type Valid range _eMC_WORKSPA CE TYPE 100 _mcDelta3Works pace 101 _mcDelta2Works pace Data type Valid range LREAL Negative number or 0 PLREAL LO Description 100 Delta3 Description Radius of the fixed frame Af mm Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Section 3 3 1 for details Link 1 Lf mm Radius of the moving frame Rm mm Link 2 Lm mm Reserved Description Rotation of Z axis 0 deg Refer to Robot supported NJ Series CP
91. alid range Description KinType _eMC_KIN_ 100 mcDelta3T Only the 100 Delta3 is supported TYPE ype KinParam Name Data type Valid range Description KinParam 0 LREAL Positive number Radius of the fixed frame Af mm Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Section 3 3 1 for details KinParam 1 LREAL Link 1 Lf mm KinParam 2 LREAL Radius of the moving frame Rm mm KinParam 3 LREAL Link 2 Lm mm KinParam 4 7 LREAL 0 Reserved ExpansionParam Name ExpansionParam 0 ExpansionParam 1 7 Data type Valid range LREAL 0 to 360 LREAL OO Description Rotation of Z axis deg Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Section 3 3 1 for details Reserved Document No 70017 0302347E 88 203 _sMC_WORKSPACE_ REF WorkspaceType Name Data type Valid range Description WorkspaceType _eMC_WORKSPA 100 Only the 100 Delta3 is supported CE_TYPE _mcDelta3Works pace WorkspaceParam Name Data type Valid range Description WorkspaceParam 0 LREAL Negative number Top surface position of cylinder Zu mm or 0 Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Section 3 3 2 for details WorkspaceParam 1 LREAL Radius of the cylinder Rey mm WorkspaceParam 2 LREAL Height of the cylinder Hcy mm WorkspaceParan 3 LREAL Radius of the frustum cone Aco mm WorkspaceParam 4 LREAL Height of the frustum cone Hco mm WorkspacePara
92. ameter to an instruction The axes group specified for the AxesGroup input variable to the Set a used axes group for the AxesGroup input variable to the instruction Correct the axes group specified by instruction is not specified as a used the instruction to a used group group None None Instruction Execution Error with Undefined Home 54660000 hex High speed homing or an interpolation instruction xor an robot instruction was executed when home was undefined Motion Motion Control Function Module Function Module Source details details Axis axes group Detection timing AN Minor a a Log category If axis is given for the source details operation is not possible for relevant axis Relevant axis decelerates to a stop if it is in motion User program Continues Operation If axes group is given for the source details operation is not possible for relevant axes group If relevant axes group is in motion non robot axes group decelerates to a stop and robot axes group stops immediately Name _MC_AX MFaultLvl Active MFaultLvi Active Axis Minor Fault Occurrence Axes Group Minor Fault Occurrence Assumed cause Prevention Execute the high speed homing Execute the high speed homing operation only after homing to define instruction only after home is defined by home homing High speed homing was executed when home was undefined An interpolation instruction or an robot Perform homing to define hom
93. an error When Execute is TRUE and changes to FALSE After one control period when Execute is FALSE When this instruction is executed while there is an error When this instruction is started during MC_GroupStop instruction execution When there is an error in the execution conditions or input When the error is cleared parameters for the instruction e In Out Variables Name AxesGroup m Function Meaning Data type Valid range Description _SGROUP_REF Specify the axes group This instruction is used to release the synchronization of the robot axes group in synchronized motion by the MC_SyncLinearConveyor instruction This instruction is completed when the specified target time is reached No in position check is performed The details are described below Precautions for Safe Use After the adjustment of mechanical home of the robot please move the robot Do not use robot at out of the workspace without workspace check function If you use may cause damage to the robot If you want to stop the movement of the running in the instruction MC_SyncLinearConveyor please use the instruction MC_SyncOut Other instructions are not smooth deceleration at the stop In Robot Ver 1 01 or later the velocity error too fast or the acceleration error too much acceleration deceleration are not detected when MaxVelocity or MaxAcceleration are set to O or they are default Set correct values to MaxV
94. andAborted Error ErrorlD m Variables Input Variables Name ___Meaning Datatype Valid range _ _ Default _ Description Execute oe ice TRUE or FALSE FALSE The instruction is executed when Execute changes to TRUE CoordTransform ia ace COORD_REF Specify the coordinate system to set System Transform _sMC_COORD REF Variable CSID oe Specify the ID of user coordinate system to set System ID Pose Pose a 0 5 Specify the pose of user coordinate system based e Output Variables Name Meaning Datatype Valid range Description Done Done BOOL TRUE or FALSE TRUE when the setting is completed Busy BOOL TRUE or FALSE TRUE when the instruction is acknowledged CommandAborted BOOL TRUE or FALSE TRUE when the instruction is aborted Aborted Error BOOL TRUE or FALSE TRUE while there is an error ErrorlD Error Code WORD Contains the error code when an error occurs A value of 16 0000 indicates normal execution Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting Output Variable Update Timing Name Timing for changing to TRUE Timing for changing to FALSE Done When the setting is successfully completed e When Execute is TRUE and changes to FALSE After one period when Execute is FALSE Busy When Execute changes to TRUE When Done changes to TRUE When Error changes to TRUE CommandAborted When this instruction is canceled due to an error When Execute is
95. angle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution for electric shock The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a general precaution The filled circle symbol indicates operations that you must do The specific operation is shown in the circle and explained in text This example shows a general precaution for something that you must do Document No 7001 7 0302347E 12 203 A WARNING During Power Supply Do nci touch any of the terminals or termmmal Hocks while the power ts baing supplied Doing so may result in electric shock Do not attempt to take eny Unit apart In perticular high vofage paris are presanl in ihe Power Supply Unil while power is supplied or immediately atier power is tumed CFF Touching any of these parts may result in elecinc shock There ara sharp parts inside the Unit that may cause injury Fail safe Measures Fride salei measures in axternal circuits to ensure safety in the system if an amnonmality oocurs due to malfunction of the GPU Und other Unis or saves of due to other extemal factors alfecting operon Mat doing so may Pesul in ious acodenks die to moore operation Emergency stop circuits interlock circuits lime circuits and similar satety measures
96. another e When Execute is TRUE and changes to FALSE motion control instruction was executed with the e After one control period when Execute is FALSE Buffer Mode set to Aborting When this instruction is canceled due to an error When this instruction is executed while there is an error When this instruction is started during MC_GroupStop instruction execution Error When there is an error in the execution conditions or input When the error is cleared parameters for the instruction e In Out Variables Name Meaning Data type Valid range Description AxesGroup _sGROUP_REF Specify the axes group m Function Document No 7001 7 0302347E 145 203 This instruction is used to move a robot axes group from a current to the target position which is specified by the Position input variable This instruction is completed when the specified target time is reached No in position check is performed The details are described below GP Precautions for Safe Use After the adjustment of mechanical home of the robot please move the robot Do not use robot at out of the workspace without workspace check function If you use may cause damage to the robot In Robot Ver 1 01 or later the velocity error too fast or the acceleration error too much acceleration deceleration are not detected when MaxVelocity or MaxAcceleration are set to O or they are default Set correct values to MaxVelocity and Ma
97. ansform Not Set Motion Control Function Module Minor fault Log category System Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion Name User program Continues Operation Assumed cause Csi lt d cause Assumed cause Correction _ __ Cs id Correction Prevention Execute the instruction after setting the kinematics transform for the axes group None None Velocity Error Detection Value Setting Out of Range 57120000 hex The velocity error detection value specified for the TrajData input variable to a motion control instruction is out of the setting range Source details Detection timing ASRAON execution Motion Control Function Module Minor fault Log category System Operation is not possible for relevant axes group Continues Relevant axes group stops immediately if it is in motion User program Operation Data type Name _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Assumed cause S cause Assumed cause Correction o Correction Prevention The velocity error detection value is out Correct the velocity error detection Set a correct velocity error detection of the setting range value value None None Acceleration Error Detection Value Setting Out of Range 57130000 hex The acceleration error detection value specified for the TrajData input variable to a motion control instruction is out of the se
98. applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate
99. arget MC common axis or axes group at the same time None None Instruction Cannot Be Executed during Multi axes Eveni cod 543E0000 hex Coordinated Control An instruction that cannot be used while the axes group is enabled was executed Motion Control Function Module Source details Axes Group Minor Fault Occurrence Prevention Check the specifications for multi execution of instructions for the instruction and do not execute instructions that cannot be executed at the same time At instruction execution at multi execution of instructions Axis axes group Detection timing Minor fault Log category System Variable Datatype o If axis is given for the source details operation is not possible for relevant axis Relevant axis decelerates to a stop if it is in motion If axes group is given for the source details operation is not possible for relevant axes group If relevant axes group is in motion non robot axes group decelerates to a stop and robot axes group stops immediately Name variable rane MFaultLvl Active BOOL Axis Minor Fault Occurrence Correct the program so that axis operation instructions are executed only for axes that are not in An operation instruction was executed for an axis that was in a coordinated multi axes motion Axes Group Minor Fault Occurrence Prevention Execute axis operation instructions only for axes that are not in coordina
100. ariable_ name Error gt variable_name ErrorlD gt variable_name TrajStatus gt variable_name Execute Insync TransitionParaneter m Variables e Input Variables Name ___Meaning Datatype Vailidrange Default_ Description Execute Execute BOOL TRUE or FALSE FALSE The instruction is executed when Execute changes to TRUE InitWorkpiecePositi Initial Workpiece ARRAY 0 5 Negative number Specify the workpiece position on Position OF LREAL positive number or target position at the time when 0 the synchronization with conveyor is started The unit is mm for InitWorkpiecePosition 0 2 and deg for InitWorkpiecePosition 3 5 Specify the parameters for creating command current positions up to the target position F CoordSystem Coordinate _eMC_RBT COORD S 1 mcRBT MCS 1 Specify the coordinate system of 3 mcRBT _UCS the target position 1 Machine coordinate system MCS 3 User coordinate system UCS System YSTEM CSID Coordinate UINT Oto 15 Specify the ID of coordinate system System ID when a user coordinate system is specified BufferMode Buffer Mode _eMC_BUFFER_MODE Selection 0 _mcAborting Specify the behavior when executing more than one motion control instruction ys Aborting ODE oe Transition disabled gee arena Transition ARRAY 0 7 Negative number Set the parameters for transition Parameters OF LREAL en number or Reserved Document No 7001 7 0302347E 106 203
101. ase set these parameters again before moving the robot Any one of the axes 0028A0 to A3 of the robot is stopped at a position where Correct the program so that the robot moves inside the working volume of the direct kinematics calculation is not robot possible None None Command Position Outside Workspace The command position is outside the workspace At instruction execution during instruction execution Source details Motion Control Function Module Axes group Detection timing Minor fault Log category System Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion Name User program Continues Operation Set the trajectory data so that the command position of the trajectory does not go out of the workspace None None 67010000 hex The current position at the time when the instruction is executed is outside the workspace D TORA At instruction etection timing acting Motion Control Function Module Source details Axes group Minor fault Log category System Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion Name User program Continues Operation Assumed cause The current position at the time when any one of the following instructions is executed is outside the workspace Correction Prevention Correct the program sot that the robot Move the robot into the workspa
102. ation Precautions Remarks Document No 7001 7 0302347E 201 203 Illegal Jog Mode 57440000Hex JogMode input is out of range or is wrong type Motion Control Function Module Source details Detection timing ee Minor fault Log category System ES Continues Oper ton Operation is not possible for relevant axes group prog p Relevant axes group stops immediately if it is in motion Data type Name _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention Specified an invalid JogMode input Correct the value of the JogMode Set a correct value for the JogMode argument value input variable input variable None None Initial Workpiece Position setting out of range X 57450000Hex The InitialWorkpiecePosition value specified is out of range Motion Control Function Module Minor fault Log category System Operation is not possible for relevant axes group User program Continues Operation i a Relevant axes group stops immediately if it is in motion Data type Name _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Assumed cause o cause Assumedcause _ Correction Prevention Specified wrong value of Correct the position of the Correct the program so that the value of InitWorkpiecePosition input InitWorkpiecePosition input variable InitWorkpiecePosition is in range None Illegal Maximum interpolation velocity 57460000Hex The Maximum Interpolation Velocity value spe
103. ation velocity and acceleration check There are two different checks of maximum interpolation velocity acceleration deceleration at a command level Pre check of the robot TCP velocity and acceleration only in case the Robot TCP is selected Every motion cycle check of the active TCP during the whole command execution The commanded velocity acceleration deceleration of the active TCP is checked during the command execution against the configured value If the velocity acceleration deceleration exceeds the configured maximum values an error occurs for the Group The Group status is set to ErrorStop and all movement commands associated with this Group are aborted This check is only performed when there is a robotics command of movement type MC_MoveTimeAbsolute MC_SyncLinearConveyor or MC_SyncOut using sync stop mode If the maximum interpolation velocity acceleration values are set to 0 0 or after the command has finished the corresponding check will be disabled lM Pre check Set the maximum interpolation velocity and acceleration limit for the trajectory executed on the command The maximum interpolation velocity acceleration deceleration of the robot TCP that will be reached during the command execution is calculated before launching the movement If calculated maximum interpolation velocity acceleration deceleration is higher than the maximum value an error occurs for the Group and all movement commands associated with this Group
104. aximum interpolation velocity maximum acceleration and maximum deceleration of the robot TCP can be set This check is activated when following conditions are true 1 A kinematics is attached to a Group and the Group is enabled 2 One of the configured maximum values is different than 0 This check is performed for commanded values but not performed for feedback values If the velocity acceleration deceleration exceeds the configured maximum values an error occurs for the Group The Group status is set to ErrorStop and all movement commands associated with this Group are aborted The check is always performed for the TCPO even if the movements are executed with a tool selected The value of maximum interpolation velocity maximum interpolation acceleration and maximum interpolation deceleration are set by MC SetKinTransform In case a maximum value is set to 0 the check is disabled The default value of them are O therefore all checks are disabled A different value should be set in order to enable the desired checks This check is only performed when there is a robotics command of movement type MC_MoveTimeAbsolute MC_SyncLinearConveyor MC_SyncOut using sync stop mode MC_RobotJog And it is not done for robotics stopping commands neither non robotics commands MC_SyncOut using immediate stop mode MC_GroupIlmmediateStop MC_GroupStop MC_GoupSyncMoveAbsolute 3 3 10 2 Document No 70017 0302347E 64 203 Command maximum interpol
105. cccssscccseseeceececeeeeescacecseueeeseaeeeseueeeseueeesaaeeeseueeesaueeessueeecsueeessuseessueeessuseessagees 15 Precautions Tor COnNGErUSE raren AEE EES 22 Regulations and Standard Sesa EEEE EEEa E a 25 Conformance 10 EC DIrGCUVE Sno a a E E 25 Conformance to Shipbuilding Standards cccccccccceecccceecceceeececeeececeeeeeceeeceseeeeesseeessueeessaeeesseeesseeeessaees 26 Usage in the robot system aisaieandann ionnann naa aman a m a ma a a a a aa n a ma a E a a a En aa a a a a a a a a aa 26 MACNA G oA 26 SoltwWare LIGENSES ald CODORS rorererororsri arerin er E EOE 26 WINE CUSION e eP E E T E E E E 2 NE ESI OM NI WO NO I sets areas essser ae tate ete sre ts peda oa tats atta de esate a a sors oe ae Se aes eens ce oars 2 Unt Versions and Sysmac Stdio Versions seee EERE anu eey eeu EE RREN N OE 29 Wit Version NOON a a E Oe 29 Related Manuals cccccccccccececeeeee ence eee ee eee ee eee ee seen cae eeE A eee AA EeEG SEES AA EEEAGEEEA SEES GG SECA A SESAa SECs a SEGA a eeEsaeetsa Sets aSetaaeEEEaeSS 30 ESI SI OEMS OT 55 5a A gac sac nabeuseaus na geassecesayensseussagsuesdees2gessceuss gaeeniee A E A 31 STATIN ONO rE EEE EEE 32 1 Introduction to Robot supported NJ SETS saskoetedetedededidedndsdededudedudsdededndedebedelednieded dudsdedcdeds deddadedadedadses 33 Er SE AU SS a ate cleats sc tstcl ue satsciecva age eatscis cleats oaiacsecieatec c aase ieatoc oaiaaiecieaiecoctaaseectee soseciea ec ocemeceaictgenst esate oseect aa
106. ce nae moves inside the workspace MC_MoveTimeAbsolute MC_SyncLinearConveyor MC_SyncOut None None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Data type _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Document No 70017 0302347E 196 203 Failed to catch up with the workpiece on the conveyor Source details Detection timing eee Workpiece Synchronization Deviation Over Motion Control Function Module Minor fault Log category System Operation is not possible for relevant axes group Se sinelelel pene Ea Relevant axes group stops immediately if it is in motion Name Axes Group Minor Fault Occurrence Assumed cause Prevention The conveyor position was changed immediately before the robot catches up with the workpiece Make the conveyor velocity constant or do not change the velocity rapidly Make the conveyor velocity constant Make the settings so that the current position of the conveyor is updated correctly Actual position of the conveyor is not Correct the actual position of the correct conveyor None None 67030000 hex Velocity Error Detected Event code The command velocity exceeded the ve
107. celeration e Other Specifications Only Aborting is supported for BufferMode Only Transition disabled is supported for TransitionMode The TransitionParameter is not used Reserved This instruction can be used when all of the following conditions are satisfied The kinematics must have been set by the MC_SetKinTransform instruction For all axes registered in the axes group the home must have been defined For all axes registered in the axes group must be turned ON For all axes registered in the axes group limit inputs must be OFF The axes group must be enabled e Timing Charts Execute Done Busy Active Command Aborted Error ErrorlD 16 0000 A nAn e Re execution of Motion Control Instructions This instruction cannot be re executed A Motion Control Instruction Re execution Disabled error error code 543B hex occurs if re execution is attempted and all axes that are being moved by this instruction stop Document No 7001 7 0302347E 104 203 e Multi execution of Motion Control Instructions A restriction applies to the instructions that can be used while this instruction is in execution For details on multi execution of motion control instructions refer to Robot supported NJ Series CPU Unit User s Manual 7001 7 0302347 Multi execution of Motion Control Instructions of this document e Errors If an error occurs during instruction execution Error will change to TRUE
108. change to TRUE You can find out the cause of the error by referring to the value output by Error D Execute Done Se Busy l Command Aborted a SS Error ErrorlD 16 0000 Error Code Document No 7001 7 0302347E 133 203 MC DefineToolTransform lt Robot Ver 1 01 gt The MC_DefineTooltransform instruction sets a robot tool for a specified robot axes group Instruction FB Graphic expression ST expression FUN FB MC_DefineT Define Tool MC DefineToolTransform instance MC_ DefineToolTransform _instance oolTransform System AxesGroup parameter MC DefineToolTransform Execute parameter 7 E ToolTransform parameter AxesGroup _ AxesGroup Done gt parameter Done Busy gt parameter Error gt parameter ErrorlD gt parameter CommandAborted j TJoolTransform Busy Error Error m Variables e Input Variables Name ___Meaning CiDatatype Valid range _ _Default_ Description Execute Execute BOOL TRUE or FALSE FALSE The instruction is executed when Execute changes to TRUE ToolTransform Tool _SMC_COORD_REF Specify the tool coordinate system to Coordinate set System Transform _sMC_ TOOL COORD REF Member Data type Valid range Function Variable ToollD Robot Tool ID UINT 1 to 16 Specify the ID of Robot tool to set Pose Tool Coordinate ARRAY 0 5 Specify the pose of tool coordinate system based System OF LREAL on TCP Transfor
109. cified is out of range execution System Operation is not possible for relevant axes group _ Relevant axes group stops immediately if it is in motion Name Axes Group Minor Fault Occurrence Assumed cause Assumed cause S Correction Prevention Specified wrong value of Maximum Correct the value of the Set a correct value for the Velocity of the robot MaxVelocity TCP input variable MaxVelocity TCP input variable None None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Document No 7001 7 0302347E 202 203 Illegal Maximum interpolation acceleration 57470000Hex The Maximum Interpolation Acceleration value specified is out of range Motion Control Function Module Source details Detection timing ee Minor fault Log category System ES Continues Oper ton Operation is not possible for relevant axes group prog p Relevant axes group stops immediately if it is in motion Data type Name _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention Specified wrong value of Maximum Correct
110. cified robot axes group on a specified coordinate system Command Actual Current position and Actual TCP Current Velocity Actual Current Velocity on the specified coordinate system are calculated by using direct kinematics from the command current position and actual current position In this reason the output variables Position Velocity of this instruction includes the calculation error This calculation error is affected on the length of the robot link encoder resolution and reduction ratio Command current position will be updated every control period when the group is TRUE and output variable is TRUE The command current position value is the latest value when the axis group was Enabled and output variable Valid was TRUE Actual current position Actual TCP Current Velocity and Actual Current Velocity are updated every control period even group is Enabled or Disabled when the output variable Valid is TRUE For Delta3 and Delta2 the following values are read out to the variables defined by the _SMC_POSITION REF and _ sMC_VELOCITY_REF data types _SMC_POSITION REF CommandPosition Name Data type Valid range Description CommandPosition 0 LREAL Negative number Command current position of X axis mm positive number or 0 CommandPosition 1 LREAL Negative number Command current position of Y axis mm positive number or 0 CommandPosition 2 LREAL Negative number Command current position of Z axis mm positive number or
111. code when an error occurs A value of 16 0000 indicates normal execution Position Current Position _SMC_POSITION_REF Shows command current position and actual current position Velocity Shows actual current velocity of each axis and Current Velocity _sMC VELOCITY _REF TCP Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting _SMC_POSITION REF Member a Data type Valid range variable CommandPosition Command ARRAY 0 5 Current Position OF LREAL Negative number positive number or 0 ActualPosition Actual Current ARRAY 0 5 Negative number Position OF LREAL positive number or 0 _sMC_VELOCITY_REF Member Eon Data type Valid range variable Function Shows the command current position of TCP on the specified coordinate system Shows the actual current position of TCP on the specified coordinate system Function Shows the actual current velocity of TCP The unit is mm s Shows the actual current velocity of each axis when viewing the actual velocity of TCP on the 0 specified coordinate system The unit is mm s ActualVelocityT CP Actual TCP LREAL Positive number or Current Velocity 0 Negative number positive number or Actual Current Velocity ActualVelocity ARRAY 0 5 OF LREAL Output Variable Update Timing Document No 70017 0302347E 96 203 Name Timing for changing to FALSE Valid When reading the current values is completed
112. connected e An Absolute Encoder Current Position Calculation Failed error 0x64580000 was detected for the conveyor axis of a MC_SyncLinearConveyor Event code 57320000Hex 57330000Hex 57340000Hex 57360000Hex 57370000Hex 57390000Hex 57440000Hex 57450000Hex 57460000Hex 57470000Hex 57480000Hex 645A0000Hex 645B0000Hex 645C0000Hex 94230000Hex Event name Illegal Robot Tool ID Illegal Tool Coordinate Transformation parameters Not supported Transition Mode Data Illegal execution of Offset functionality Motion Control Instruction Multi execution Disabled trajectory type Current Instruction does not support TransitionMode Initial Workpiece Position setting out of range Illegal Maximum interpolation velocity Illegal Maximum interpolation acceleration Illegal Maximum interpolation deceleration Maximum interpolation velocity over passed Maximum interpolation acceleration over passed Maximum interpolation deceleration over passed Started the Transition by correcting TransitionParam eters Meaning The Tool Coordinate System Identifier specified as variable for the input ToollD is out of range or has not been defined The Tool Coordinate Transformation parameters specified as variable for the input CoordTransform are of wrong values The selected TransitionMode is not supported with the selected data of current or buffered ins
113. correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Data type _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Buffer Mode Selection Out of Range 542B0000 hex The parameter specified for the BufferMode input variable to a motion control instruction is out of range Source details Source details Axis axes group Detection timing poeta Motion Control Function Module Motion Control Function Module Function Module Minor fault Log category System If axis is given for the source details operation is not possible for relevant axis Relevant axis decelerates to a stop if it is in motion User program Continues Operation If axes group is given for the source details operation is not possible for relevant axes group If relevant axes group is in motion non robot axes group decelerates to a stop and robot axes group stops immediately Data type Name _MC_AX MFaultLvl Active BOOL Axis Minor Fault Occurrence _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Assumed cause O Z o Prevention Correct the parameter so that the valid range of the input variable is not exceeded for the relevant instruction Assumed cause Set the input parameter to the instruction so that the valid range of the input variable is no
114. ctory data so that the command velocity is lower than the MaxVelocityT CP input variable Specified value for MaxVelocity TCP input variable of MC_SetKinTransform is wrong or too low Set a correct value for the MaxVelocityTCP input variable Correct the maximum velocity of the MaxVelocityTCP input variable None None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Document No 70017 0302347E 203 203 Maximum interpolation acceleration over passed X 645B0000Hex The commanded acceleration of the default TCP overpasses the maximum robot acceleration set in MC_SetKinTransform Motion Control Function Module Source details Detection timing During instruction execution Minor fault Log category System Correct the trajectory data so that the command acceleration is lower than the MaxAccelerationTCP input Wrong specified trajectory data of current instruction variable Specified value for MaxAccelerationTCP input variable of MC_SetKinTransform is wrong or too low None None Cor
115. d correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Data type _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention a Correct the trajectory data so that the Pel i aa e ae aaa tee robot moves within the range of l workspace Current Position Outside Workspace Data type _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Assumed cause O o O Document No 70017 0302347E 195 203 Kinematics Initialization Error 571F0000 hex The initialization of kinematics failed Motion Control Function Module Minor fault Log category Operation is not possible for relevant axes group Continues Relevant axes group stops immediately if it is in motion User program Operation Data type Name _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention Power off each axis of the robot for safety And move the each axis inside the working volume of the robot When this error is detected the setting parameters of kinematics workspace check user coordinate systems and tool coordinate system for the relevant axes group will be cleared So ple
116. d such provision shall not invalidate any other provision f Setoff Buyer shall have no right to set off any amounts against the amount owing in respect of this invoice g Definitions As used herein including means including without limitation and Omron Compa nies or similar words mean Omron Corporation and any direct or indirect subsidiary or affiliate thereof Certain Precautions on Specifications and Use 1 Suitability of Use Omron Companies shall not be responsible for conformity with any standards codes or regulations which apply to the combination of the Product in the Buyers application or use of the Product At Buyer s request Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product This information by itself is not sufficient for a complete determination of the suitability of the Prod uct in combination with the end product machine system or other application or use Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyers application product or system Buyer shall take application responsibility in all cases but the following is a non exhaustive list of applications for which particular attention must be given i Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described i
117. d frequency is supplied in places where the power supply is unstable Make sure that the current capacity of the wire is sufficient Otherwise excessive heat may be generated When cross wiring terminals the total current for all the terminals will flow in the wire When wiring cross overs make sure that the current capacity of each of the wires is not exceeded Do not touch the terminals on the Power Supply Unit immediately after turning OFF the power Document No 70017 0302347E 23 203 supply Residual voltage may cause electrical shock f you use reed switches for the input contacts for AC Input Units use switches with a current capacity of 1 A or greater If the capacity of the reed switches is too low surge current may fuse the contacts Error Processing In applications that use the results of instructions that read the error status consider the affect on the system when errors are detected and program error processing accordingly For example even the detection of a minor error such as Battery replacement during operation can affect the system depending on how the user program is written Unit Replacement If you replace a CPU Bus Unit or Special I O Unit refer to operation manual for the Unit for information on the data required for individual Units and redo the necessary settings The absolute encoder home offset is backed up with a Battery in the CPU Unit When you change the combination of the CPU Uni
118. deg 0 AxesPosition 3 5 LREAL 0O Reserved If the target position is outside the workspace regardless of whether the workspace function is enabled or disabled Outside Workspace OutWorkspace changes to TRUE and Enabled Valid changes to FALSE If the transform target position to the target position in the Actual Coordinate System ACS is successfully completed at that time the Enabled Valid changes to TRUE e Other Specifications This instruction can be used when the following condition is satisfied The kinematics must have been set by the MC_SetKinTransform instruction Document No 70017 0302347E 124 203 e Timing Charts Enable Valid Busy OutWorkspace Error Position in ACS No Valid Position in MCS e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Error Code Enable Valid Busy Error ErrorlD 16 0000 Error Code AxesPosition _ No Valid Document No 7001 7 0302347E 125 203 MC_GroupSyncMoveAbsolute The MC_GroupSyncMoveAbsolute instruction outputs the target positions on the axis coordinate system ACS set for each axis to the Servo Drive every primary period m Function This instruction can be used regardless of whether or not the kinematics is set for the axes group Refer to the NJ series Motion Control Instructio
119. display unit of the axis to Set a correct unit mm for the axis not correct mm None None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Document No 7001 7 0302347E 194 203 571B0000 hex The target position specified for the Position input variable to a motion control instruction is outside the workspace At instruction execution Target Position Outside Workspace Motion Control Function Module Source details Axes group Detection timing Minor fault Log category System Operation is not possible for relevant axes group Se intel eh Poo ENO REN Relevant axes group stops immediately if it is in motion Name Axes Group Minor Fault Occurrence Assumedcause gt Assumed cause Correction Prevention The target position is outside the Correct the target position Set a target position within the range of workspace workspace None None Synchronization Release Disabled 571C0000 hex The End Synchronization MC_SyncOut instruction cannot be executed Motion Control Function Module Minor
120. e LREAL Negative number or 0 LREAL Positive number or O LREAL oc Description 102 Delta2 Description Radius of the fixed frame Af mm Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Section 3 3 1 for details Link 1 Lf mm Radius of the moving frame Rm mm Link 2 Lm mm Reserved Description Reserved Description 101 Delta2 Description Z coordinate of the workspace volume top side Zu mm Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Section 3 3 2 for details Half length of the top side of the trapezoid Riop mm Half length of the bottom side of the trapezoid Rbottom mm Height of the trapezoid H mm Reserved Document No 70017 0302347E 130 203 When the power supply to the Controller is turned OFF the settings of kinematics and workspace and maximum interpolation velocity and maximum interpolation acceleration and maximum interpolation deceleration that you set in this instruction will be initialized If use the robot function it have to reset the kinematics and the workspace parameters by this instruction each time when the power is turned on The setting value will be retained even after switching to program mode of the CPU Unit Following robot instructions be able to use after one control period of MC_SetKinTransform instruction is done Done TRUE MC_DefineCoordSystem MC_GroupMon MC_MoveTimeAbsolute MC_SyncLinearCo
121. e System Machine Coordinate System User Coordinate System TCP Tool Center Point Fixed Frame Moving Frame Robot Tool TCPO TCPi Tool Coordinate System TCSO TCSi Document No 70017 0302347E 32 203 NJ501 1300 1400 1500 NJ501 4300 4310 4400 4500 In some case these models describe as NJ501 4U LI O in this manual SysmacStudio Robot Option is SysmacStudio option to use a robotic function of NJ501 40 O L1 It will be available when you in put the license No for Sysmac Studio V1 03 or later Composition that consists of multiple links and axes joints such as Delta and SCARA Robot using the parallel link composition This controller is possible to control two types of Delta robots 2 parallel links type and 3 parallel links type Further there are robots with wrist rotation axis and robots without wrist The 3 parallel links type of Delta robot is called Delta3 in this manual The 3 parallel links type of Delta robot with wrist rotation is called Delta3R in this manual The 2 parallel links type of Delta robot is called Delta2 in this manual In this manual the formulae required for transforming from axis coordinate system ACS to be described later of each link axis composition of the robot to robot specific Cartesian coordinate system MCS to be described later and vice versa are collectively called kinematics Transforming the position on the robot specific Cartesian coordinate syste
122. e axes group must be enabled Ph Ph Document No 7001 7 0302347E 113 203 e Outputting Status during Command Position Creation While the command position is created each status is output to the applicable member of Trajectory Status _sMC_SYNC_TRAJ_STATUS During phase 5 and 6 robot and workpiece Synchronize and Insync will change to TRUE RemainTime Shows the remaining time of Trajectory Target Time T1 T2 T3 This is found by subtraction from T1 T2 T3 Phase Phases 0 to 6 Shows which trajectory is being calculated 0 This instruction is not being executed 1 t lt Ttrans1 T1 2 Ttrans1 71 lt t lt T1 3 T1 lt t lt 1 T2 4 T1 T2 lt t lt T1 T2 T3 T3 Ttrans2 5 T1 T2 T3 T3 Ttrans2 lt t lt T1 T2 T3 6 T1 T2 T3 lt t Phase A Phase When setting Trajectory Transition Ratio parameters Ttrasn1 and Ttrans2 to 100 control period of phase 2 and 4 is not to be 0 At least One control period is secured as below Phase This instruction is not being executed tsT1 T1 lt t lt T1 One control period T1 One control period lt t lt T1 T2 T1 T2 lt t lt T1 T2 One control period T1 T2 One control period lt t lt T1 T2 T3 T1 7T2 T3 lt t Oak WN O Document No 70017 0302347E 114 203 e Timing Charts The timing chart of this instruction is shown below The one for stopping this instruction by the MC_SyncOut instruction is also shown below MC SyncLinearConvey
123. e fixed i e cannot be changed D Precautions for Safe Use Specify the setting of direction in the controller as same as the rotating direction of the Servo Drive Otherwise the robot may cause unexpected operation Document No 70017 0302347E 45 203 3 2 2 Axis Coordinate System ACS This is rotating coordinate system or linear coordinate system specific to each axis which is also called joint coordinate system or link coordinate system One axis coordinate system is always created for each axis 3 2 3 Cartesian Coordinate Systems 3 2 3 1 Machine Coordinate System MCS This is a Cartesian coordinate system specific to each robot The target position used for moving a robot is specified by the position of the working point of the robot TCP viewed from the home of this coordinate system One machine coordinate system exist for each robot 3 2 3 2 User Coordinate System UCS This is a Cartesian coordinate system that can be freely defined by the user The home Tx Ty TZ Rx Ry Rz of this coordinate system is specified by the position and rotation called pose from the home of machine coordinate system Up to 16 user coordinate systems can be set for each robot 3 2 3 3 Tool Coordinate System TCS This is a Cartesian coordinate system that can be freely defined by the user The home of this coordinate system is specified by the position and rotation called pose from the robot TCP Up to 16
124. e for all instruction was executed for an axes axes in the axes group before executing the interpolation instruction Perform homing to define home for all axes in the axes group before executing the interpolation instruction group that includes an axis with no defined home Attached information Depends on the source details Axis 0 Axes group Logical axis number If you execute the Set Position instruction after making the Servo Drive ready to operate or performing homing home will again be undefined You must make the Servo Drive ready to operate or perform homing again to define home in this case Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Document No 7001 7 0302347E 188 203 57050000 hex An instruction that cannot be used when kinematics transform is set for the axes group was executed Instruction Not Supporting Kinematics Transform At instruction Source details execution Motion Control Function Module Axes group Detection timing Minor fault Log category System Operation is n
125. e parameter is enabled Kinematics type Delta3 Delta3R Delta2 X the parameter is filtered the value is ignored Document No 70017 0302347E 61 203 When the robot tool is selected the origin of its Tool Coordinate System will be used as the point of the robot that is commanded to move Therefore robot will move from the current position to the target position referred to the selected robot tool Example Robot Tool definition TCP1 defined by 20 0mm 0 0mm 5 0mm 0 0 0 0 0 0 Positions in MCS PO current position of TCPO 0 0mm 20 0mm 750 0mm 0 0 0 0 0 0 P1 current position of TCP1 20 0mm 20 0mm 755 0mm 0 0 0 0 0 0 P2 target position 70 0mm 0 0mm 750 0mm 0 0 0 0 30 0 Operation Move to the target position P2 with Robot Tool ID1 YTcso ZTCs Zt S2 Tcpo PO Xo NUP A TCP1 l Precautions for Correct Use Each Robot Tool is defined against a valid MCS It means that each Robot Tool of one robot must be defined again by executing MC_DefineToolTransform for each Robot Tool if the MC SetKinTransform was executed again on that robot Document No 70017 0302347E 62 203 3 3 9 Robot Jog Robot Jog is supported in Robot Ver 1 01 or later It operates jog movement along the specified direction Jog Mode MACHINE USER and TOOL can be specified that will set the point of the robot and the coordinate system used in
126. each axis when Enable changes to TRUE Position Target Position ARRAY 0 5 Negative number Specify the target position on the OF LREAL positive number or machine coordinate system MCS 0 For Delta3 the unit is mm e Output Variables Name Meaning Datatype _Validrange Description Valid Enabled BOOL TRUE or FALSE The Axis Target Position AxesPosition below is enabled when Valid is TRUE The axis target position is updated every period AxesPosition Axis Target ARRAY 0 5 Negative number Shows the axis target position of each axis that is Position OF LREAL a number or found by transforming the target position on the machine coordinate system MCS For Delta3 the unit is deg OutWorkspace Outside BOOL TRUE or FALSE TRUE when the target position is outside the Workspace workspace Busy poe TRUE or FALSE TRUE when the instruction is acknowledged Error es TRUE or FALSE TRUE while there is an error ErrorlD Error Code WORD Contains the error code when an error occurs A value of 16 0000 indicates normal execution Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting Output Variable Update Timing Name Timing for changing to FALSE e When Enable is FALSE e When Error changes to TRUE parameters for the instruction OutWorkspace When the target position is outside the workspace When the target position is inside the workspace e When Enable is FALSE e When E
127. ece Position Outside Workspace The workpiece position specified for the nitWorkpiecePosition input variable to a motion control instruction is outside the workspace Source details Detection timing APEE execution Motion Control Function Module Minor fault Log category System Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion Name User program Continues Operation Assumed cause S Assumed cause S Correction gt lt S lt S zq Prevention The initial workpiece position is outside Move the oreco aie into the Make the initial position of the workpiece the workspace workspace within the range of workspace None None Event code 571A0000 hex The axis specified for the ConveyorAxis in out variable of a motion control instruction is not correct Invalid Conveyor Axis Specification Motion Control Function Module Minor fault Log category System Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion Data type Name User program Continues Operation Variable Variable eae _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention The specified axis is registered in an Set a correct axis axes group Change to a correct axis The specified axis does not exist Change to an existing axis Set an existing axis The display unit of the conveyor axis is Correct the
128. ecified robot axes group Up to 16 tool coordinate systems can be set for each robot When the tool coordinate system is successfully registered it can be referred to by MC_GroupMon MC_MoveTimeAbsolute and MC_SyncLinearConveyor instructions after that When setting a user coordinate system the following values are set for the variables defined by the _SMC_TOOL_COORD_REF data type _sMC_ TOOL COORD REF Pose 0 Pose 1 Pose 2 Pose 3 Pose 4 Pose 5 Description LREAL Positive number Position of home in the tool coordinate negative number system UCS that is seen from X axis home in tool or O center point TCP Tx mm LREAL Positive number Position of home in the tool coordinate negative number system UCS that is seen from Y axis home in tool or 0 center point TCP Ty mm LREAL Positive number Position of home in the tool coordinate negative number system UCS that is seen from Z axis home in tool or 0 center point TCP Tz mm Rotation around the X axis of tool coordinate system TCS Rx deg Rotation around the Y axis of tool coordinate system TCS Ry deg Rotation around the Z axis of tool coordinate system TCS Az deg The setting value will be retained even after switching to program mode of the CPU unit This instruction can be used when the following condition is satisfied The kinematics must have been set by the MC_SetKinTransform instruction l Precautions for Correct Use Each
129. ecutes it automatically after the current instruction is completed Blending Starts the buffered instruction at the velocity transit velocity at which the current instruction reaches the target position The operation of the current instruction is changed so that the axes reach the target position at the transit velocity There are four methods to specify the transit velocity These are described below Blending low The lower of the target velocities of the current instruction and the buffered instruction is used as the transit velocity Blending previous The target velocity of the current instruction is used as the transit velocity Blending next The target velocity of the buffered instruction is used as the transit velocity Blending high The higher of the target velocities of the current instruction and the buffered instruction is used as the transit velocity For details on BufferMode Buffer Mode Selection refer to the NJU series CPU Unit Motion Control User s Manual Cat No W507 e TransitionMode TransitionMode specifies how to join the motions for this interpolation instruction and the previous interpolation instruction Transition disabled StartHeight and StartRemaining Time are supported for TransitionMode If BufferMode Buffer Mode Selection is set to Blending TransitionMode is enabled An error will occur if you do not set TransitionMode to _mcTMNone Transition Disabled when blending is not used For
130. eeeeeseeeeeceeeeeeeseeueeesseeeeesaeeeeessaaeeeesseneeeesaeneees 57 Seoul Verse KNEMAUC Sansinenea E O O O OA OO O O O O O 59 RO RODO TOOK an E E E EE E E E AEOS 60 2 RODO SO asa E EOE EEEE 62 3 3 10 Robot maximum interpolation velocity and acceleration check cccceccccseeeeceeeeeeeeeeeseeeesaeneeeaees 62 ee Wi Mu ltiExec ution BUNEred erann E E adc EEA 66 S10 1 2 M ltExecu utionBiendiNg js cute E eee 66 3 3 13 Trajectory types of time specified MOVE cccccccccssececcesceccesceececeeceuceeceeeesaaeeeseeeessueeessuseessaeeessags 70 4 RODOCFUNCIOM OGRIN ko mesa van ete yen ees E 72 Hal Sysmac Studi RODOL COU OM asidig EEO OOO O EEE 72 4 1 1 Procedures of Registering Robot ODPtion cccccccccssssceeceseeecceeseeecsaseeecsagseeseeaseeesseuseeessagseneaes 72 4 1 2 Procedures of Unregistering Robot Option cccccccsssscecceeseeecceeseeeceeeseeessagseesseeseeessegseesssenseesnes 73 4 2 Setting of Group to Register the Robot Setting on SySMac StudiO ee eceecseeeeeesaeeeeeeeaeeeeeeaeees 76 4 3 Setting of Link Length and Other Parameters for Robot Setting on User Program c 0008 Tf 5 FOMIN Gunana E 18 6 Wining Setngs ona ss Vi gale oars 6 0 ate ene nen ne ee e 19 T NYS UIC ON e O E 80 L OUTE seian a ane nn ene ene ees ete 80 PEL IAS CIONES carmen eee ee 80 PAZ Unavaa IMNSUFUCIONS saccsacncsserszacteactcocaeccdencdeacteactcoasencdencdeacteaadeoadencdaecceacteaadhoadencda
131. el Document No 7001 7 0302347E 24 203 Turn ON the power after replacing the Battery for a CPU Unit that has been unused for a long time Leaving the CPU Unit unused again without turning ON the power even once after the Battery is replaced may result in a shorter Battery life When you replace the Battery use the CJ1W BAT01 Battery Set SD Memory Cards Insert the SD Memory Card all the way Do not turn OFF the power supply to the Controller during SD Memory Card access The files may be corrupted If there is a corrupted file in the SD Memory Card the file is automatically deleted by the restoration function when the power supply is turned ON Document No 70017 0302347E 25 203 Regulations and Standards Conformance to EC Directives Applicable Directives EMC Directives Low Voltage Directive Concepts EMC Directive OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine The actual products have been checked for conformity to EMC standards Whether the products conform to the standards in the system used by the customer however must be checked by the customer EMC related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel on which the OMRON devices are installed The custome
132. election Out of Range 57150000 hex Meaning The trajectory type specified for the TrajData input variable to a motion control instruction is out of the setting range Source Motion Control Function Module Source details Detection timing A a Error attributes Minor fault Log category System Effects User program Continues Operation PETAR iS nO tor Pean PAra IOMP Relevant axes group stops immediately if it is in motion System defined Data type Name variables _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Assumed cause is Assumed cause is Correction o Prevention Cause and The trajectory type is out of the settin correction range J ry typ g Correct the trajectory type Set a correct trajectory type Attached i as None information Precautions None Remarks Event name Trajectory Transition Setting Out of Range 57160000 hex Meaning The trajectory transition specified for the TrajData input variable to a motion control instruction is out of the setting range At instruction Source Motion Control Function Module Source details Detection timing executo Error attributes Minor fault Log category System Effects User program Continues Operation Operations not possible or Coat Socal cera Relevant axes group stops immediately if it is in motion System defined Variable Data type Name variables _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence SN Prevention correction a a Correct the
133. eleration are set to O or they are default Set correct values to MaxVelocity and MaxAcceleration in order to avoid unexpected velocity and acceleration deceleration A velocity error or an acceleration error are not detected before starting this instruction when ToollD is set other than 0 e Setting Coordinate System and Conveyor Axis When catching up with a workpiece specified by Initial Workpiece Position nitWrokpiecePosition the X axis of coordinate system which is specified by the Coordinate System CoordSystem needs to be the same direction as the conveyor axis The procedure to specify the machine coordinate system MCS and user coordinate system UCS is shown below When specifying the machine coordinate system MCS Align the directions of Xm and conveyor axis as shown in the following figure Ym Conveyor axis Xm Xm Ym Zm Machine coordinate system Document No 7001 7 0302347E 154 203 When specifying the user coordinate system UCS Align the directions of Xc and conveyor axis as shown in the following figure Xm Ym Zm Machine coordinate system Xc Yc Zc User coordinate system e Specifying the Position of Workpiece to Catch up with The Initial Workpiece Position nitWrokpiecePosition of the workpiece to catch up with is a position on the machine coordinate system MCS or user coordinate system UCS According to kinematics type KinType the position is specified as show
134. elocity and MaxAcceleration in order to avoid unexpected velocity and acceleration deceleration In Robot Ver 1 01 or later the velocity error or the acceleration error are not detected at the moment of starting this instruction when ToollD is set other than 0 Please pay attention to that e Specifying the Trajectory The parameters to create the trajectory for releasing the synchronization are specified by SyncStop Type TrajTime TrajTransition TrajDistance MaxVelocity and MaxAcceleration of the Trajectory Data 7rajData Document No 7001 7 0302347E 118 203 Two stop types immediate stop and synchronization stop are supported for Synchronization Stop Type Selection SyncStop Type If the immediate stop is selected when this instruction is executed the operation of the MC_SyncLinearConveyor instruction is stopped and also the creation of command position is stopped after that The details of the stop operation and setting parameters for synchronization stop are described below Z axis _sMC_SYNC_TRAJ_STATUS Phase 6 InSyhc TRUE eel EEEE X axis MC_SyncLinearConveyor MC_SyncOut lt Terms gt _SMC_SYNC_TRAJ_STATUS Phase 6_ Phase of the trajectory indicates the 6 status T4 Trajectory Target Time ms cme meee wees oeosoheeeeece eee eee eee eee oeeeeeoeeoe H4 Trajectory Distance in Machine coordinate system MCS Z axis direction mm The command position to move the robot from the current posi
135. emark of SD 3C LLC gt Other company names and product names in this document are the trademarks or registered trade marks of their respective companies Microsoft product screen shot s reprinted with permission from Microsoft Corporation Software Licenses and Copyrights The license and copyright information associated with this software is available at http www fa omron co jp nj_info_e in Items related to NJ501 1300 1400 1500 This product incorporates certain third party software The license and copyright information associated with this software is available at http www fa omron co jp nj_info_e Document No 7001 7 0302347E 27 203 Unit Versions Unit Versions and Notation A unit version has been introduced to manage CPU Units in the NJ Series according to differences in functionality accompanying Unit upgrades Notation of Unit Versions on Products The unit version is given on the ID information label of the products for which unit versions are managed as shown below Example for Robot supported NJ series NJ501 4300 4310 4400 4500 CPU Unit ID information label Unit model Unit version i Robot Version Lot number and serialnumber MAC address The following information is provided on the ID information label Item Description Unit Model Gives the model of the Unit Unit Version Given the unit version of NJ501 40 OC that is added the robot function Robot Version Given the version of robot
136. er reasons It is our prac tice to change part numbers when published ratings or features are changed or when significant construction changes are made However some specifica tions of the Product may be changed without any notice When in doubt spe cial part numbers may be assigned to fix or establish key specifications for your application Please consult with your Omron s representative at any time to confirm actual specifications of purchased Product Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions OMRON AUTOMATION amp SAFETY OMRON AUTOMATION AND SAFETY THE AMERICAS HEADQUARTERS e Chicago IL USA 847 843 7900 800 556 6766 e www omron247 com OMRON CANADA INC HEAD OFFICE OMRON ARGENTINA SALES OFFICE Toronto ON Canada 416 286 6465 866 986 6766 gt www omron247 com Cono Sur 54 11 4783 5300 OMRON ELECTRONICS DE MEXICO HEAD OFFICE M xico DF 52 55 59 01 43 00 01 800 226 6766 mela omron com OMRON ELECTRONICS DE MEXICO SALES OFFICE OMRON CHILE SALES OFFICE Santiago 56 9 9917 3920 OTHER OMRON LATIN AMERICA SALES Apodaca N L 52 81 11 56 99 20 e 01 800 226 6766 mela omron com 54 11 4783 5300 OMRON ELETR NICA DO BRASIL LTDA HEAD OFFICE Sao Paulo SP Brasil e 55 11 2101 6300 e www omron com
137. f the 4 axis group Note In case of selecting Delta 3R if a tool is used wrist movement could occur unexpectedly for the user if not paying attention to the fact that the wrist is controlled as part of the robot group and not by the user When MCS is rotated by the parameter 9 the origin of the orientation around Z is aligned to the X axis of the new MCS Document No 7001 7 0302347E 47 203 3 3 1 2 Kinematics Setting for Delta2 For Delta2 the following parameters are set Rf stance radius from the center of the fixed frame to the motor of the axis mm Rm Distance radius from the center of the moving frame to the connection point of Link 2 mm Lf Length of Link 1 mm Lm Length of Link 2 mm In case of Delta2 it can not use a wrist axis 3 3 1 3 Constraints of the kinematics parameters The Delta3 Delta3R and Delta2 that can be use with this product have to satisfy conditions all of the following 1 The maximum length of the kinematics parameters Must be the length of Rf is 2000 mm less and Lm is 10000 mn less 2 Maximum range of the angle between two link1 and a link2 The angle of range between link1 and link2 have to be from 0 to 180 deg 3 Relationship of the length of Rf and Rm Must be the length of Rm is less than Rf Document No 70017 0302347E 48 203 3 3 2 Workspace Check The workspace check is a function to check the movable volume of the robot s TCP If the position of the robots T
138. h the workpiece on the conveyor Busy BOOL TRUE or FALSE TRUE when the instruction is acknowledged Active TRUE when the axes group is being controlled CommandAborted Command BOOL TRUE or FALSE TRUE when the instruction is aborted eee E Error TRUE while there is an error ErrorlD Error Code WORD Contains the error code when an error occurs A value of 16 0000 indicates normal execution TrajStatus Teves aruge ST Outputs the status remaining time for creating ATUS command current position and phase of the trajectory Refer to Robot supported NJ Series CPU Unit User s Manual 7001 7 0302347 Chapter 9 Troubleshooting _sMC_SYNC_TRAJ STATUS Member Data type Valid range Function variable RemainTime Remaining Time UINT Positive number Outputs the remaining time for creating command or 0 current position The unit is ms Phase Outputs which position on trajectory the command position refers to Document No 7001 7 0302347E 107 203 Output Variable Update Timing Timing for changing to TRUE Timing for changing to FALSE If the command current position and actual current position e When Error changes to TRUE of the workpiece are matched after the Target Time e When CommandAborted changes to TRUE Trajectory T1 T2 T3 T3 Trans2 later describe has elapsed If the difference between command current position X Y and actual current position of the workpiece Name InSync Busy Active CommandAborted
139. he connected devices before you change the settings of an EtherCAT slave or Special Unit If two different function modules are used together such as when you use CJ series Basic Output Units and EtherCAT slave outputs take suitable measures in the user program and external controls to ensure that safety is maintained in the controlled system if one of the function modules stops The relevant outputs will stop if a partial fault level error occurs in one of the function modules Always confirm safety at the connected equipment before you reset Controller errors with an event level of partial fault or higher for the EtherCAT Master Function Module When the error is reset all slaves that were in any state other than Operational state due to a Controller error with an event level of partial fault or higher in which outputs are disabled will go to Operational state and the outputs will be enabled Before you reset all errors confirm that no Controller errors with an event level of partial fault have occurred for the EtherCAT Master Function Module Always confirm safety at the connected equipment before you reset Controller errors for a CJ series Special Unit When a Controller error is reset the Unit where the Controller error with an event level of observation or higher will be restarted Before you reset all errors confirm that no Controller errors with an event level of observation or higher have occurred for the CJ series Special Unit Observa
140. he right hand is twisted in direction from Xu axis to Yu axis In the Xu1 Yu1 Zu1 user coordinate system that is newly created by the above rotation the rotation around Yu1 axis Ry is set The positive direction is the one in which the right hand is twisted in direction from Zu1 axis to Xu1 axis In the Xu2 Yu2 Zu2 user coordinate system that is newly created by the above rotation the rotation around Xu2 axis Rx is set The positive direction is the one in which the right hand is twisted in direction from Yu2 axis to Zu2 axis Zu Zu Zu2 Yu1 Yu2 Xu2 Xu3 Document No 70017 0302347E 56 203 l Precautions for Correct Use Each UCS is defined against a valid MCS It means that each UCS of one robot must be defined again by executing MC_DefineCoordSystem for each UCS if the MC_SetKinTransform was executed again on that robot 3 3 4 Monitoring The following information can be monitored for the robot Command current position and actual current position of robot s TCP on the machine user coordinate systems Actual current velocity of TCP and actual current velocity of robot s TCP in X Y Z Rx Ry and Rz directions on the machine user coordinate systems The MC_GroupMon instruction described later is used for monitoring 3 3 5 Time specified Absolute Positioning Command The command value to move the robot from the current position to the specified target position X Y Z in the specified time is created This command i
141. hen this variable changes to TRUE Document No 70017 0302347E 168 203 the axis starts moving in the positive direction of rotation around Y axis When it changes to FALSE the axis stops moving NegativeEnable_R Negative BOOL TRUE FALSE FALSE When this variable changes to TRUE Y Direction Enable the axis starts moving in the negative of Rotation direction of rotation around Y axis Around X Axis When it changes to FALSE the axis stops moving PositiveEnable RZ Positive Direction BOOL TRUE FALSE FALSE When this variable changes to TRUE Enable of the axis starts moving in the positive Rotation around direction of rotation around Z axis X Axis When it changes to FALSE the axis stops moving NegativeEnable_R Negative BOOL TRUE FALSE FALSE When this variable changes to TRUE Z Direction Enable the axis starts moving in the negative of Rotation direction of rotation around Z axis Around X Axis When it changes to FALSE the axis stops moving Velocity Target Velocity ARRAY 0 1 Negative number Specify the target velocity The unit is OF LREAL positive number or command units s 0 Acceleration Acceleration ARRAY 0 1 Negative number Rate OF LREAL positive number or 0 Deceleration Deceleration ARRAY 0 1 Negative number Rate OF LREAL positive number or 0 UCS JogMode Jog Mode _eMC_JOG MODE 1 _mcMachineMod e 2 _mcUserMode 3 _mcToolMode 3 Selected Tool moved in its TCS CSID Coordinate UINT Oto 15 Specify the ID of co
142. hex 57190000 hex 571A0000 hex 571B0000 hex 571C0000 hex 571E0000 hex 571F0000 hex 67000000 hex 67010000 hex 67020000 hex Event name Acceleration Error Detection Value Setting Out of Range Trajectory Target Time Setting Out of Range Trajectory Type Selection Out of Range Trajectory Transition Setting Out of Range Trajectory Distance Setting Out of Range Initial Workpiece Position Outside Workspace Invalid Conveyor Axis Specification Target Position Outside Workspace Synchronization Release Disabled Kinematics Limit Exceeded Command Position Outside Workspace Current Position Outside Workspace Workpiece Synchronization Error Limit Exceeded Meaning The acceleration error detection value specified for the TrajData input variable to a motion control instruction is out of the setting range The trajectory target time specified for the TrajData input variable to a motion control instruction is out of the setting range The trajectory type specified for the TrajData input variable to a motion control instruction is out of setting range The trajectory transition specified for the TrajData input variable to a motion control instruction is out of the setting range The trajectory distance specified for the TrajData input variable to a motion control instruction is out of the setting range The workpiece position specified for the InitWorkpiecePosition
143. iable is too fast e The parameter specified for the TrajData input variable is not correct e The velocity error detection value is too low 67040000 hex Acceleration The command acceleration e The command acceleration in the Error Detected exceeded the acceleration error combination of the parameters trajectory detection value specified for the target time and distance target position TrajData input variable to a motion command current position specified for the control instruction TrajData input variable is too high e The parameter specified for the TrajData input variable is not correct e The acceleration error detection value is too low 67050000Hex Command The specified command current e The robot was moved with a high speed Current Velocity velocity exceeds the maximum Then the specified command current velocity Axis Maximum velocity of axis exceeds the maximum velocity of axis Velocity Exceeded 74300000 hex Axes Group An error occurred for an axis in an e An error occurred for an axis in an axes group Composition Axis axes group that was in motion Error 77000000Hex Conveyor Axis The MC_SyncLinearConveyor was e EtherCAT process data communications are Position Read not executed because an error not established for the conveyor axis of the occurred in the position of the MC_SyncLinearConveyor Error conveyor axis of the e The slave of the conveyor axis for the MC_SyncLinearConveyor MC_SyncLinearConveyor was dis
144. ial velocity of transition This decelerating profile is performed with an appropriate jerk in order to avoid jump of acceleration Buffered instruction Current instruction sync with conveyor a half distance Without Transition Transition with given start remain time Document No 7001 7 0302347E 68 203 3 3 12 2 Transition with given start height When TransitionMode is set to Transition with given height the buffered instruction is superimposed on the current instruction The superimposed area is specified by Ty which is set in the transition parameters Transition starts when the height on coordinate Z is higher than Ty The transition ends at same timing as when the current command without the transition finishes P Precautions for Correct Use When the passed height of the current instruction is higher than Ty the transition starts immediately and an observation occurs When the duration of the buffered instruction is equal or smaller than resulting T an error occurs The transition overlaps execution of 2 commands then resulting movement velocity acceleration and deceleration are different from when executing single command Velocity error or acceleration error may occur when using Transition even if they did not occur without Transition When MC_SyncLinearConveyor is executed as the buffered command and all conditions described below are true an error occurs gt The direction of the current c
145. iately if it is in motion Data type Name _MC ee MFaultLvl Active BOOL Axes Se Minor Fault Occurrence Trajectory type Cl buffered instruction is Set Trajectory type to the same type Set Trajectory type to the same type of difference to current instruction of current instruction current instruction None None Current Instruction does not support TransitionMode 57390000Hex Specified Transition Mode is not supported by the combination of the instructions Motion Control Function Module Source details Detection timing P r a Hon Minor fault Log category System f Operation is not possible for relevant axes group User program Continues Operation i l Faki Relevant axes group stops immediately if it is in motion Variable Data type Name _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention The current instruction does not support the selected TransitionMode with the buffered instruction Correct the TransitionMode Set a correct TransitionMode None None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached inform
146. ime the new value of the input parameter is used in operation The robot is not stopped and Busy Executing does not change to FALSE Re execution with Enable in the same direction Valid for each component X Y Z Rx Ry Rz If you change NegativeEnable Negative Direction Enable to TRUE when PositiveEnable Positive Direction Enable is TRUE and the robot is jogging in the positive direction the robot will reverse its direction and start jogging in the negative direction for the selected component When this happens you can jog the robot with the input variables for when NegativeEnable Negative Direction Enable changes to TRUE The input variables are Velocity Target Velocity Acceleration Acceleration Rate and Deceleration Deceleration Rate The deceleration rate before the robot direction is reversed and the acceleration rate after it is reversed follow the input variables for when NegativeEnable Negative Direction Enabled changes to TRUE When Document No 7001 7 0302347E 171 203 NegativeEnable Negative Direction Enable is TRUE and the robot is jogging in the negative direction the same operation occurs when PositiveEnable Positive Direction Enable changes to TRUE If NegativeEnable Negative Direction Enable changes to TRUE while PositiveEnable Positive Direction Enable is TRUE the robot starts jogging in the negative direction In this case the robot will not jog in the positive direction even if NegativeEnable
147. ion TrajTransition 0 UINT 50 to 100 Ttrans1 TrajTransition 1 UINT to 100 Ttrans2 TrajTransition 2 7 UINT Reserved TrajDistance Name Data type Valid range Description TrajDistance 0 LREAL Negative number Trajectory Distance Z axis direction in Machine ls number or coordinate system MCS H1 mm TrajDistance 1 7 LREAL er Reserved If the workspace check function is enabled and it detects an error the axis Group is stopped Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 section LF BRA AOA Y EtA the details of workspace check function When creating the command position the command velocity and command acceleration are also created that considered velocity of conveyor in every control period And it is checked whether or not the Velocity Error Detection Value MaxVelocity and Acceleration Error Detection Value MaxAcceleration are exceeded e Other Specifications Only Aborting is supported for BufferMode Only Transition disabled is supported for TransitionMode The TransitionParameter is not used Reserved This instruction can be used when all of the following conditions are satisfied The kinematics must have been set by the MC_SetKinTransform instruction For all axes registered in the axes group the home must have been defined For all axes registered in the axes group must be turned ON For all axes registered in the axes group limit inputs must be OFF Th
148. ion target velocity and deceleration Each Enable inputs details depending on kinematics type KinType Name KinType Positive NegativeEnable _ py z Delta 3 Robot 100 xX X X Delta 3 Robot with Rotation O Used X Not Used The jogging is performed according the specified velocity acceleration and deceleration Trajectory follows a Due to a kinematics ambiguity if the axis position axis belongs to commanded AxesGroup is incremented 180 or more in 1 motion cycle the algorithm cannot calculate correct position In this case kinematics calculation error will occur and MC_RobotJog instruction will be aborted Document No 7001 7 0302347E 170 203 e Timing Charts PositiveEnable_X NegativeEnable_X O li a a CommandAborted Ga I I i I I l Error i ErroriD 16 0000 Velocity on Xycs T Target velocity 1 Acceleration Decelerates to a stop when another instruction causes an error e Re execution of Motion Control Instructions Re execution with Enable in the same direction Valid for each component X Y Z Rx Ry Rz If you change PositiveEnable Positive Direction Enable or NegativeEnable Negative Direction Enable to TRUE when it is FALSE and the robot is decelerating the robot will begin to accelerate towards the target velocity If you change the Velocity Target Velocity Acceleration Acceleration Rate or Deceleration Deceleration Rate at this t
149. ion data of the absolute encoder to 0 using the absolute encoder setting function 3 With SysmacStudio set the current position to 0 by homing of the MC Test Run function with Zero position preset homing method By doing so the compensation value for the absolute encoder to set the current position to O is stored in the non volatile memory of the NJ series CPU Unit Refer to the NJ series CPU Unit Motion Control User s Manual Cat No W507 for the operating procedure of the MC Test Run function Instead of the homing of the MC Test Run function it is possible to use the MC_Home instruction in the user program 4 Repeat the same operation for all axes of the robot and all axes are homed Document No 7001 7 0302347E 79 203 6 Wiring Settings by Sysmac Studio Next the wiring of each robot axis and electronic gear settings of each axis are checked Wiring check Are the limit sensor and other items wired correctly Does each axis move downward when a positive direction command value is given to the axis Refer to Section 3 2 1 2 1 Electronic gear setting check Can it move to the specified angle e g 90 degree Use the MC Test Run function of Sysmac Studio or user program for the check When a moving frame is mounted remove it to allow each axis to move freely Refer to the NJ series CPU Unit Motion Control Users Manual Cat No W507 for the operating procedure of the MC Text Run function When the axes move as expec
150. ion is executed when Execute changes to TRUE eooo Specify the kinematics type robot s link length and other items en the range of workspace Kinematics _SMC_KIN_REF Transform Workspace _SMC_WORKSPACE_R Parameters EF EnableWorkspace Enable BOOL TRUE or ene aa Specify whether to enable TRUE or Workspace disable FALSE the workspace function KinTransform Workspace _sMC_KIN_ REF Member Data type Valid range Function variable KinT ype Kinematics Type _eMC_KIN_ TYPE 100 mcDelta3T Specify the kinematics type to set Selection ype Only the 700 Delta3 is supported KinParam ee a a Specify the arm length and other items for the Parameters OF LREAL robot ExpansionParam ook ieee ie o Specify the values for adjusting the rotation of the Parameters OF LREAL machine coordinate system MCS _sMC_WORKSPACE_ REF Member ee Data type Valid range Function variable Workspace Tl ype Workspace Type _eMC_ WORKSPACE _ 100 Selection TYPE _mcDelta3Works pace WorkspaceParam Workspace ARRAY 0 7 Parameters OF LREAL e Output Variables Specify the workspace type to set Only the 100 Delta3 is supported Set the Volume of workspace Name Meaning Data type Valid range Description Done Done BOOL TRUE or FALSE TRUE when the setting is completed Busy Executing BOOL TRUE or FALSE TRUE when the instruction is acknowledged CommandAborted Command BOOL TRUE or FALSE TRUE when the instruction is aborted Abo
151. ion or distribution of Register License Unregister License Unregister button Leste Enter the license number Unregister Cancel 3 The following message is shown after succeeding to register the license License unregistratior License unregistration is completed The unregistrated license will become invalid after Sysmac Studio is restarted Ea 4 Confirm that Robot Option is not displayed like following window and restart Sysmac Studio EX Offline ni New Project oh r Open Project License Standard Edition Sysmac Studio Module version 1 0 3 203 Copyright c OMRON Corporation 2011 All Rights Reserved OMRON Corporation License Installed products Product details User name s2 Company name omron License 6u2etcqh2iskkmmw30 Warning This program is protected by copyright law and intemational treaties Unauthorized reproduction or distribution of Register License Document No 70017 0302347E 76 203 4 2 Setting of Group to Register the Robot Setting on Sysmac Studio For example use the following procedure for Delta3 1 Create a new project 2 Select NJ501 4 00 for CPU 3 Register Servo Drives for three axes to use for the robot in the EtherCAT network 4 Add three axes in the axis settings 5 Assign the Servo Drives to each axis added above 6 Add an axes group for the robot 7 Make the Axes Group Settings as shown below Axes G
152. ions processing for Robot robots Status Control Instructions Document No 7001 7 0302347E 40 203 3 Functions 3 1 Controllable Robot Type In the Robot supported NJ Series the following three types of robots can be controlled Delta3 Delta3R and Delta2 3 2 Coordinate Systems 3 2 1 Outline 3 2 1 1 Types of Coordinate Systems In the Robot supported NJ Series the following four types of coordinate systems are prepared to control the robots Axis coordinate system ACS Coordinate system consisting of AO A1 A2 in the figure below Refer to Section 3 2 2 Machine coordinate system MCS Coordinate system consisting of Xm Ym Zm in the figure below Refer to Section 3 2 3 1 User coordinate system UCS Coordinate system consisting of Xu Yu Zu in the figure below Refer to Section 3 2 3 2 Tool coordinate system TCS Coordinate system consisting of Xt Yt Zt in the figure below Refer to Section 3 2 3 3 1 Delta3 Zm Machine coordinate system MCS Axis X coordinate A2 m Fixed frame Moving frame User coordinate system UCS Xu Document No 7001 7 0302347E 41 203 2 Delta3R Zm Ym A1 Machine coordinate Axis Xm coordinate Fixed frame Zu Robot TCP Yu User coordinate system UCS Xu Tool coordinate System TCSO Tool coordinate System TCSi Document No 7001 7 0302347E 42 203 zm View from Ym to Delta2 Machine coordinate system MCS 3 Delta2 F
153. is Maximum Velocity The specified command current velocity exceeds the maximum velocity of axis Motion Control Function Module Source details Axes group Detection timing E OA Minor fault Log category System Operation is not possible for relevant axes group oe een Pontes Sie Rell Relevant axes group stops immediately if it is in motion Data type Name Pee eS _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention Set the input parameter to the instruction so that the maximum velocity of each axis is not exceeded The specified command current velocity Lower the operation velocity of the exceeds the maximum velocity of axis robot Attached information 1 Depends on the source details Axis O Axes group Number of the logical axis where the error occurred None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Document No 70017 0302347E 198 203 74300000 hex An error occurred for a composition axis in an axes group Motion Control Function Module Source details Detection timing At any time Minor fault Log category System Non robot axes group Follows the operation set in the axes group stop method if a compositi
154. it Software User s Manual Cat No W501 Describes the operating procedures of the Sysmac Studio Introduces the system configuration methods Unit hardware setting methods and functions of Slave Terminals that consstof a Communications Cou pler Unit and NX Units Describes the hardware setup methods and func tions of the NX Units Manuals are available for the following Units Digital I O Units Analog I O Units System Units and Position Interface Units Provides the list of data required for system config uration including the power consumption and weight of each NX series unit Describes the hardware setup methods and tunc tions of the EtherGAT remote I O terminals Describes the hardware setup methods and func tons of the AC Servomotors Servo Drives with built in EthercaAT Communications The linear moter type model and the model dedi cated for position controls are available in 95 serieas Revised content A June 2012 Original production July 2012 Add Information on the NJ501 4310 B C Nov 2012 Add Information on the NJ501 4310 D Jan 2013 Updated the only revision code for synchronizing revision code of Japanese user s manual Feb 2014 Updated the manual by releasing Robot version 1 01 m Terminology Term NJ501 1 00 Robot supported NJ Series SysmacStudio Robot Option Robot Delta Delta3 Delta3R Delta2 Kinematics Inverse Kinematics Direct Kinematics Axis Coordinat
155. it Users Manual 70017 0302347 Section 7 2 for details MC_WriteAxisParameter can not be executed when a kinematics is set to the axes group Document No 70017 0302347E 82 203 7 1 3 Starting and Stopping a Robot When moving a robot use the MC_MoveTimeAbsolute MC_SyncLinearConveyor MC_SyncOut or MC_GroupSyncMoveAbsolute instruction When stopping a running robot use the MC SyncOut MC GroupStop or MC_GrouplmmediateStop instruction Please note that the robot is stopped immediately regardless of the input variable settings when the MC_GroupStop instruction is used to stop a robot Also please note that the robot is stopped immediately when any one of the following occur during robot operation Error of Inside of MC Function Module Error of EtherCAT Master Function Module Error of Built in EtherCAT communications port hardware Error of EtherCAT slaves 7 1 4 Axes Group Variables During moving axes in robotics instructions the following variables will be zero and therefore they can t be used for monitoring purpose MC_GroupLILJL Cmd Vel MC _GroupLJLJL Cmd AccDec Uu 000 063 When a robot is stopped due to an error or a stop instruction the commanded value is output to MC_GroupL LJLJ Cmd Vel Document No 70017 0302347E 83 203 7 2 How to specify a target position 7 2 1 Position input variable Target position is specified by Position input variable X Y Z Rx Ry Rz Position details depending on
156. it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability Document No 70017 0302347E 9 203 ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions Document No 70017 0302347E 10 203 Safety Precautions Definition of Precautionary Information The following notation is used in this manual to provide precautions required to ensure safe usage of an NJ series Controller The safety precautions that are provided are extremely important to safety Always read and heed the information provided in all safety precautions The following notation is used Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Precautions for Safe Use Indicates precautions on what to do and what not to do to ensure safe usage of the product l Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance Document No 7001 7 0302347E 11 203 Symbols The circle and slash symbol indicates operations that you must not do The specific operation is shown in the circle and explained in text This example indicates prohibiting disassembly The tri
157. ition of the Z profile with the XY profiles e Setting Coordinate System and Conveyor Axis When catching up with a workpiece specified by Initial Workpiece Position nitWrokpiecePosition the X axis of coordinate system which is specified by the Coordinate System CoordSystem needs to be the same direction as the conveyor axis The procedure to specify the machine coordinate system MCS and user coordinate system UCS is shown below When specifying the machine coordinate system MCS Align the directions of Xm and conveyor axis as shown in the following figure Ym Conveyor axis Xm Xm Ym Machine coordinate system When specifying the user coordinate system UCS Align the directions of Xc and conveyor axis as shown in the following figure Document No 70017 0302347E 109 203 Xm Ym Zm Machine coordinate system Xc Yc Zc User coordinate system e Specifying the Position of Workpiece to Catch up with The Initial Workpiece Position nitWrokpiecePosition of the workpiece to catch up with is a position on the machine coordinate system MCS or user coordinate system UCS For Delta3 the position is specified as shown below InitWorkpiecePosition Name Data type Valid range Description InitWorkpiecePosition 0 LREAL Negative position Current position of X axis of the workpiece mm positive position or 0 InitWorkpiecePosition 1 LREAL Negative position Current position of Y axis
158. itions or input parameters for the instruction OutWorkspace When the target position is outside the workspace e J J Axis Target Position ARRAY 0 5 OF LREAL Negative number positive number or Timing for changing to FALSE When Error changes to TRUE When Enable is FALSE When Enable changes to FALSE When Error changes to TRUE When the error is cleared When the target position is inside the workspace When Enable is FALSE When Error changes to TRUE Document No 7001 7 0302347E 164 203 e In Out Variables Name Meaning Data type Valid range Description AxesGroup _sGROUP_REF Specify the axes group m Function This instruction is used to transform the target position Position on the machine coordinate system MCS of the robot to the target position on the axis coordinate system ACS of each axis According to kinematics type KinType the settings of the specified target position Position and the transformed axis target position AxesPosition are shown below Position Name Data type Valid range Description Position 0O LREAL Negative number Target position of X axis on the machine positive number or coordinate system MCS mm 0 Position 1 LREAL Negative number Target position of Y axis on the machine positive number or coordinate system MCS mm 0 Position 2 LREAL Negative number Target position of Z axis on the machine positive number or coordinate system MCS
159. itten by the user program This operation differs from the force set reset functionality of the CJ series PLCs You cannot upload or download information for forced refreshing with the Sysmac Studio After downloading data that contains forced refreshing change to RUN mode and then use the Sysmac Studio to perform the operation for forced refreshing Depending on the difference in the forced status the control system may operate unexpectedly Do not specify the same address for the AT specification for more than one variable Doing so would allow the same entity to be accessed with different variable names which would make the user program more difficult to understand and possibly cause programming mistakes General Communications When you use data link communications check the error information that is given in _ErrSta Controller Error Status to make sure that no error has occurred in the source device Create a user program that uses reception data only when there is no error in the source device If there is an error in the source device the data for the data link may contain incorrect values Unexpected operation may result if inappropriate data link tables are set Even if appropriate data link tables have been set confirm that the controlled system will not be adversely affected before you transfer the data link tables The data links start automatically after the data link tables are transferred All CPU Bus Units are
160. ixed frame Zu ra 1 K No Moving frame User coordinate pf system UCS Xu Document No 70017 0302347E 43 203 3 2 1 2 Direction and Positional Relationship of Coordinate Systems 1 Direction of Axis Coordinate System ACS The position where the Link 1 is in alignment with the fixed frame is defined as O degree For all axes in Delta3 and Delta3R from AO to A2 and in Delta2 from AO to A1 the lower side is positive direction 1 and the upper side is negative direction When installing the Servo Drives make the rotating direction as shown below in the wiring In addition with all axes set the software limit within the movable range of 180 degrees to 180 degrees Negative Fixed frame direction y E 0 deg J I Positive Link1 direction a Link2 Delta 1 If an axis moves downward when a positive command current velocity is given to the axis Servo Drive the moving direction is called positive direction If an axis moves upward when a negative command current velocity is given the moving direction is called negative direction Document No 7001 7 0302347E 44 203 2 Positional Relationship between Axis Coordinate System ACS and Machine Coordinate System MCS The directions of each axis AO to A2 and machine coordinate system MCS are as shown below Ym Overhead View of Fixed Frame Positional relationship between axes and Direction of the coordinates systems ar
161. iy TOP MaxAccelaration TSP Erao MaxDeceleratian Tor ST expression MC_ SetKinTransform _instance AxesGroup parameter Execute parameter KinTransform parameter Workspace parameter EnableWorkspace parameter MaxVelocityT CP parameter MaxAccelerationT CP parameter MaxDecelerationT CP parameter Done gt parameter Busy gt parameter Error gt parameter ErrorlD gt parameter m Variables Input Variables Name Meaning Data type Valid range Default Description Execute Execute BOOL TRUE or FALSE FALSE The instruction is executed when Execute changes to TRUE KinTransform Transform Parameters EF Workspace EnableWorkspace Specify the kinematics type robot s link length and other items ee e the range of workspace Specify whether to enable TRUE or disable FALSE the workspace function Enable BOOL TRUE or ee hed Workspace MaxVelocityTCP Maximum LREAL Positive number Maximum interpolation velocity of the interpolation or 0 default robot TCP mm s Velocity of the TCP of the Robot MaxAcceleration Maximum LREAL Positive number Maximum interpolation acceleration TCP interpolation or 0 of the default robot TCP Acceleration of mm s the TCP of the Robot MaxDeceleration Maximum LREAL Positive number Maximum interpolation deceleration TCP interpolation or 0 of the default robot TCP Deceleration of mm s the TCP of the Robot 1 When MaxVelocityTCP is zero
162. king the mounting location carefully Be sure that the terminal blocks expansion cables and other items with locking devices are properly locked into place Always remove any dustproof labels that are on the top of the Units when they are shipped before you turn ON the power supply If the labels are not removed heat will accumulate and malfunctions may occur Before you connect a computer to the CPU Unit disconnect the power supply plug of the computer from the AC outlet Also if the computer has an FG terminal make the connections so that the FG terminal has the same electrical potential as the GR terminal on the Power Supply Unit A difference in electrical potential between the computer and Controller may cause failure or malfunction If the external power supply to an Output Unit or slave has polarity connect it with the correct polarity If the polarity is reversed current may flow in the reverse direction and damage the connected devices regardless of the operation of the Controller Power Supply Design Do not exceed the rated supply capacity of the Power Supply Units in the NJ series Controller The rated supply capacities are given in the NJ series CPU Unit Hardware Users Manual Cat No W500 If the capacity is exceeded operation may stop malfunctions may occur or data may not be backed up normally for power interruptions Use NJ series Power Supply Units for both the NJ series CPU Rack and Expansion Racks Doc
163. ks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Document No 70017 0302347E 185 203 Motion Control Instruction Multi execution Disabled 543C0000 hex Multiple functions that cannot be executed simultaneously were executed for the same target MC common axis or axes group Motion Motion Control Function Module Function Module Source details i COMO WN ani Detection timing axes group At instruction execution Minor ee Log category System Variable Datatype o If MC Common is given for the source details operation is not affected If axis is given for the source details operation is not possible for relevant axis Relevant axis decelerates to a stop if it is in motion If axes group is given for the source details operation is not possible for relevant axes group If relevant axes group is in motion non robot axes group decelerates to a stop and robot axes group stops immediately Name Kaeble Ea MFaultLvl Active BOOL MC Common Minor Fault Occurrence _MC_AX MFaultLvl Active BOOL Axis Minor Fault Occurrence Check the specifications of multi execution of instructions for this instruction and do not execute instructions that cannot be executed Assumed cause Multiple functions that cannot be executed simultaneously were executed for the same t
164. l not drop ship except in break down situations b Such carrier shall act as the agent of Buyer and delivery to such carrier shall constitute delivery to Buyer c All sales and shipments of Products shall be FOB shipping point unless oth erwise stated in writing by Omron at which point title and risk of loss shall pass from Omron to Buyer provided that Omron shall retain a security inter est in the Products until the full purchase price is paid d Delivery and shipping dates are estimates only and e Omron will package Products as it deems proper for protection against nor mal handling and extra charges apply to special conditions Claims Any claim by Buyer against Omron for shortage or damage to the Products occurring before delivery to the carrier must be presented in writing to Omron within 30 days of receipt of shipment and include the original trans portation bill signed by the carrier noting that the carrier received the Products from Omron in the condition claimed Warranties a Exclusive Warranty Omron s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron or such other period expressed in writing by Omron Omron disclaims all other warranties express or implied b Limitations OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED ABOUT NON INFRINGEMENT MERCHANTABIL 14 15 16
165. locity error detection value specified for the TrajData input variable to a motion control instruction At instruction execution during instruction execution Motion Control Function Module Source details Axes group Detection timing Minor fault Log category System Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion Name User program Continues Operation Correction Prevention Assumed cause The command velocity in the combination of the parameters specified Set the parameters so that the command velocity becomes lower than the velocity error detection value Set the parameters so that the command velocity of the trajectory becomes lower than the velocity error detection value for the TrajData input variable is too fast The parameter specified for the TrajData Correct the parameter Set a correct parameter input variable is not correct The velocity error detection value is too Correct the velocity error detection Set an appropriate velocity error low value detection value None None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Document No 7001 7 0302347E 197 20
166. lute to execute Phase lt 6 Phase 6 MC_MoveTimeAbsolute Aborting selected in BufferMode MC_SyncLinear Conveyor Aborting selected in BufferMode o E E eae eee m o ew SyncStop Type 1 MC_Grou oe Mee Absolute Aborting selected in BufferMode MC_RobotJog Error Description Error When the instruction is executed an error is detected and the axes are stopped OK The instruction can be executed The instruction in execution is aborted OK1 The instruction can be executed The instruction in execution is aborted Please note that the command actual position is calculated assuming initial velocity equal to 0 Document No 7001 7 0302347E 174 203 E Buffered Instruction MC_Move MC_Sync MC_Sync MC_SyncOut MC_Group MC_Robot in execution Time Linear Linear SyncStop SyncMove Instruction Absolute Conveyor Conveyor Type 0 Absolute to execute Phase lt 6 Phase 6 Jog Buffered selected in OK Errol Error OK Error nee BufferMode Ei Ea iii MC_SyncLinear Conveyor ioe ne Buffered selected in OK Se Erro OK BufferMode Description Error When the instruction is executed an error is detected and the axes are stopped OK The instruction can be executed Note other robot instructions can not be selected Buffered in BufferMode input variable E Blending Instruction MC _ Move MC_Sync MC_Sync MC_SyncOut MC_Group MC_Robot in execution Time Linear Linear SyncStop SyncMove Jog
167. m MCS to the position on the axis coordinate system ACS of the link axis composition is called inverse kinematics Transforming the position on the axis coordinate system ACS of the link axis composition to the position on the robot specific Cartesian coordinate system MCS is called direct kinematics Rotating coordinate system or linear coordinate system specific to each axis of the robot Abbreviated as ACS Cartesian coordinate system specific to the machine i e specific to the robot Abbreviated as MCS Cartesian coordinate system that the user can define freely Abbreviated as UCS Working point of the machine robot In the positioning on the Cartesian coordinate system this TCP position is specified A mechanical object attached to the robot flange used to perform operations on a workpiece Default Tool Center Point of the Robot Active Tool Center Point of the Robot Cartesian coordinate system that has the position of the Tool Center Point TCP at its origin Abbreviated as TCS Default Tool Coordinate System Its origin is located on the TCPO of the robot Active Tool Coordinate System Document No 7001 7 0302347E 33 203 1 Introduction to Robot supported NJ Series 1 1 Features This robot package has the following features Robot operations single axis operations and synchronous operations can be all realized by Motion Control Function Module
168. m 5 7 LREAL O __ Reserved When the power supply to the Controller is turned OFF the settings of kinematics and workspace that you set in this instruction will be initialized If use the robot function it have to reset the kinematics and the workspace parameters by this instruction each time when the power is turned on The setting value will be retained even after switching to program mode of the CPU Unit Following robot instructions be able to use after one control period of MC_SetKinTransform instruction is done Done TRUE MC_DefineCoordSystem MC_GroupMon MC_MoveTimeAbsolute MC_SyncLinearConveyor MC_SyncOut MC_InverseKin Even if kinematics parameters are set by this instruction you can move each axes by using Axis instructions during the group axis is disabled Even if Disable workspace check EnableWorkspace FALSE input variable is set the parameters for the workspace check function parameters of the input variables defined in _ sMC_WORKSPACE_REF are set If Kinematics Initialization Error error code 571 F hex has occurred the pre registered Kinematics parameters are removed For this reason this error occurs please reset the kinematics parameters This instruction can be used when all of the following conditions are satisfied The number of axes registered in the axes group must be the same as the number of axes of the kinematics robot Axis display units that are registered in the group axis mus
169. m per axis mac nine COnramate 1 machine coordinate system per axes grou Coordinate system MCS y p group systems User coordinate system 16 di UCS user coordinate systems per axes group Tool coordinate system 17 tool coordinate systems per axes group TCS a default tool and user defined robot tools Robot tool 16 tools per axes group Number of Maximum number of 8 robots max when using NJ501 4400 4500 4300 robots robots 1 robots max when using NJ501 4310 1 Unit Ver 2 1 or later is recommended 2 Unit Ver 1 1 or later is recommended 3 Not possible to use for robotics group 4 Positions can be set within a 40 bit signed integer range when converted to pulses 5 Connect to an EtherCAT Coupler Unit NX ECC201 Document No 7001 7 0302347E 39 203 2 Introduction to Robot Control In the Robot supported NJ Series the motion control instructions for robots hereinafter referred to as robot instructions and data processing for robot function Robot instructions and data processing for robots marked with are added to NJ501 1 00 This realizes the robot control using IEC 61131 3 function blocks like NJ501 1 00 NJ501 4300 4310 4400 4500 Servo Drive User program MC Function EtherCAT Module Communications Master Module Communicatio Command interpretation Motion Command Communications ns processing control interpretation processing instructions Data processing Motion control Data instruct
170. mandAborted When this instruction is aborted because another motion control instruction was executed with the Buffer Mode set to Aborting When this instruction is canceled due to an error When Error changes to TRUE When CommandAborted changes to TRUE When Error changes to TRUE When CommandAborted changes to TRUE When Execute is TRUE and changes to FALSE After one period when Execute is FALSE When this instruction is executed while there is an error When this instruction is started during MC_GroupStop instruction execution Error When there is an error in the execution conditions or input When the error is cleared parameters for the instruction e In Out Variables Name Meaning Data type Valid range Description AxesGroup _sGROUP_REF Specify the axes group ConveyorAxis _sAxis_REF Specify the axis m Function This instruction is used for a specified robot axes group to catch up with a workpiece specified by Initial Workpiece Position nitWorkpiecePosition from the current position The InSync output variable changes to TRUE when the robot catches up with the specified workpiece i e when X axis and Y axis match Then the synchronization is maintained Normally the MC_SyncOut End Synchronization instruction is used to release the synchronization If processing of the primary periodic task has not been finished within one control period there is possibility that Velocity Error or Acceleration
171. mation definition e Output Variables Name Meaning Datatype Valid range Description Done Done BOOL TRUE or FALSE TRUE when the setting is completed Busy BOOL TRUE or FALSE TRUE when the instruction is acknowledged CommandAborted BOOL TRUE or FALSE TRUE when the instruction is aborted Aborted Error BOOL TRUE or FALSE TRUE while there is an error ErrorlD Error Code WORD Contains the error code when an error occurs A value of 16 0000 indicates normal execution Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting Output Variable Update Timing Name Timing for changing to TRUE Timing for changing to FALSE Done When Execute is TRUE and changes to FALSE After one period when Execute is FALSE Busy When Execute changes to TRUE When Done changes to TRUE When Error changes to TRUE When Execute is TRUE and changes to FALSE After one period when Execute is FALSE CommandAborted When this instruction is canceled due to an error e When this instruction is executed while there is an error Error When there is an error in the execution conditions or input When the error is cleared parameters for the instruction e In Out Variables Name Valid range Description Document No 7001 7 0302347E 134 203 AxesGroup _sGROUP_REF Specify the axes group m Function This instruction is used to set a user coordinate system Tool ID 1 to 16 for a sp
172. me AxesGroup Timing for changing to FALSE When Execute is TRUE and changes to FALSE After one control period when Execute is FALSE When Done changes to TRUE When Error changes to TRUE e When CommandAborted changes to TRUE When Done changes to TRUE When Error changes to TRUE e When CommandAborted changes to TRUE e When Execute is TRUE and changes to FALSE e After one control period when Execute is FALSE When the error is cleared m Function Document No 7001 7 0302347E 102 203 This instruction is used to move a robot axes group from a current to the target position which is specified by the Position input variable This instruction is completed when the specified target time is reached No in position check is performed The details are described below GP Precautions for Safe Use After the adjustment of mechanical home of the robot please move the robot Do not use robot at out of the workspace without workspace check function If you use may cause damage to the robot e Specifying the Target Position The target position Position is the position on a machine coordinate system MCS or user coordinate system UCS For Delta3 the target position is set as shown below Position Name Data type Valid range Description Position 0 LREAL Negative number Target position of X axis mm positive number or 0 Position 1 LREAL Negative number Target position of Y axis mm positive
173. me Done Busy Active CommandAborted Error ErrorlD acceleration error too much acceleration deceleration is detected when creating a command current position The unit is mm s TRUE or FALSE TRUE when the instruction is acknowledged Controlling BOOL TRUE or FALSE TRUE when the axes group is being controlled Command Aborted Error Error Code BOOL TRUE or FALSE TRUE when the instruction is aborted BOOL TRUE or FALSE TRUE while there is an error WORD Contains the error code when an error occurs A value of 16 0000 indicates normal execution Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting Output Variable Update Timing Name Done Busy Active CommandAborted Error Timing for changing to TRUE When the specified target time is reached J When Execute changes to TRUE e J When the axis starts moving e J J When there is an error in the execution conditions or input parameters for the instruction When this instruction is aborted because another motion control instruction was executed with the Buffer Mode set to Aborting When this instruction is canceled due to an error When this instruction is executed while there is an error When this instruction is started during MC_GroupStop instruction execution e In Out Variables Meaning Data type Valid range Description SGROUP_REF Specify the axes group Na
174. mm and Le 2000 mm are set to kinematics parameters In this case the kinematics parameters Rf Re and Lf must satisfy the following condition lt Rf Rm 20 333 Lf Intermediate calculation value is as below d 0 955 round off to three decimal places Kr 0 333 round off to three decimal places Document No 70017 0302347E 54 203 3 3 2 6 Workspace with Robot Tools Workspace check is always performed for the robot TCP l Precautions for Correct Use In case that a robot tool is selected an error will occur when the robot TCP is outside the workspace P1 in below figure even if the active TCP is inside the workspace An error will not occur when the robot TCP is inside the workspace P2 in below figure even if the active TCP is outside the workspace Error will occur No error Document No 7001 7 0302347E 55 203 3 3 3 User Coordinate System The home position Tx Ty Tz Rx Ry Rz of the user coordinate system is set by the MC_DefineCoordSystem instruction described later The home position to be set is described below Setting of Position Tx Ty TZ First the home of the user coordinate system is set by the distance Tx Ty Tz from the home of the machine coordinate system Zu Xm Ym Zm Machine coordinate system Xu Yu Zu User coordinate system Tx Ty TZ Xm Ym Setting of Rotation Rx Ry Rz The rotation around Z axis Rz is set The positive direction is the one in which t
175. n below InitWorkpiecePosition Name Data type Valid range Description InitWorkpiecePosition 0 LREAL Negative position Current position of X axis of the workpiece mm positive position or 0 InitWorkpiecePosition 1 LREAL Negative position Current position of Y axis of the workpiece mm positive position or 0 InitWorkpiecePosition 2 LREAL Negative position Current position of Z axis of the workpiece mm positive position or 0 InitWorkpiecePosition 3 LREAL Negative position Current position of rotation around X axis of the positive position or workpiece deg 0 InitWorkpiecePosition 4 LREAL Negative position Current position of rotation around Y axis of the positive position or workpiece deg 0 InitWorkpiecePosition 5 LREAL Negative position Current position of rotation around Z axis of the positive position or workpiece deg 0 Document No 70017 0302347E 155 203 Position array details depending on kinematics type KinT ype Name KinType Position o wu Po wul s o pope fe fete fete Delta 3R O Used X Not Used When using an user coordinate system UCS specify its ID number in the Coordinate System ID CSID When this instruction is successfully started the above workpiece position is updated along with the conveyor axis movement and command position is created toward the updated workpiece position If the initial workpiece position is outside the workspace when the works
176. n in a Axes Group ST expression MC_MoveTimeAbsolute AxesGroup variable_name Execute variable_name j Position variable_name bone Direction variable_name Busy TrajData variable_name Active CoordSystem Comnands4 bored oe Error variable_name ErolD ToollD variable_ name BufferMode gt _mcPositiveDirec tion 2 _mcNegativeDire ction 4 mcNoDirection Trajectory _SMC_MOVE_TRAJ_R Data EF _eMC_RBT_COORD_S Coordinate System Coordinate UINT System ID Robot Tool ID UINT O to 16 Buffer Mode Selection Transition Mode YSTEM eMC BUFFER MODE eMC _TRANSITION M ODE 1 mcRBT_MCS 3 mcRBT_UCS Oto 15 0 _mcAborting 1 _mcBuffered 2 mcBlending Low 3 _mcBlendingPrev ious 4 _mcBlendingNext 5 _mcBlendingHigh 0 mcTMNone 11 _mcTMStartHei ght 12 mcTMStartRe variable_name TransitionMode variable_name TransitionParameter variable_name AxesGroup gt variable_ name Done gt variable_name Busy gt variable_name Active gt variable_name CommandAborted gt variable_ name Error gt variable_name ErrorlD gt variable_name Description The instruction is executed when Execute changes to TRUE Specify the target position For Delta3 the unit is mm Specify the direction of rotation of the rotation axis 0 Positive direction 2 Negative direction 4 No direction Specify the parameters for creating command cur
177. n progress i e while the SD BUSY indicator flashes Data may become corrupted and the Controller will not operate correctly if it uses corrupted data To remove the SD Memory Card from the CPU Unit while the power supply is ON press the SD Memory Card power supply switch and wait for the SD BUSY indicator to turn OFF before you remove the SD Memory Card Document No 7001 7 0302347E 17 203 Do not disconnect the cable or turn OFF the power supply to the Controller when downloading data or the user program from Support Software Always turn OFF the power supply to the Controller before you attempt any of the following Mounting or removing I O Units or the CPU Unit Assembling the Units Setting DIP switches or rotary switches Connecting cables or wiring the system Connecting or disconnecting the connectors The Power Supply Unit may continue to supply power to the rest of the Controller for a few seconds after the power supply turns OFF The PWR indicator is lit during this time Confirm that the PWR indicator is not lit before you perform any of the above Operation Confirm that no adverse effect will occur in the system before you attempt any of the following Changing the operating mode of the CPU Unit including changing the setting of the Operating Mode at Startup Changing the user program or settings Changing set values or present values Forced refreshing Always sufficiently check the safety at t
178. n this document ii Use in consumer products or any use in significant quantities iii Energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equip ment and installations subject to separate industry or government regulations iv Systems machines and equipment that could present a risk to life or prop erty Please know and observe all prohibitions of use applicable to this Prod uct NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON S PRODUCT IS PROP ERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM Programmable Products Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Performance Data Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitabil ity and does not constitute a warranty It may represent the result of Omron s test conditions and the user must correlate it to actual application require ments Actual performance is subject to the Omron s Warranty and Limitations of Liability Change in Specifications Product specifications and accessories may be changed at any time based on improvements and oth
179. nan 183 Document No 7001 7 0302347E 7 203 Read and Understand this Manual Please read and understand this manual before using the products Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liabilit WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINA
180. nner that the Refer to Section 3 2 1 2 2 and wiring relationship between machine coordinate system and axis coordinate system is satisfied Align the positive direction of axis coordinate Refer to Section 3 2 1 2 1 system with that of the motor Settings Create a new project Refer to Chapter 4 Create an EtherCAT network configuration Refer to Chapter 4 Add three axes for the robot Refer to Chapter 4 Decide an axes group to use for the robot and Refer to Chapter 4 assign the axes to the logical axes of the axes group Set axis parameters Refer to Chapter 4 Make settings for the Controller Setup Transfer the project to Controller Open the MC Test Run screen Refer to Chapter 6 Monitor the I O signals and check the wiring Refer to Chapter 6 Perform jogging to confirm that the axes can be Refer to Chapter 6 operated normally and the positive negative directions of the axes are correct Homing Decide the machine home of the robot Refer to Chapter 5 Prog ram creation Create a control program Debugging Do debugging Operation Operate the Controller to run the system Maintenance Perform inspections periodically Document No 70017 0302347E 37 203 1 4 Specifications 1 4 1 Function Specifications In the Robot supported NJ Series the following functions are added to the Motion Control Function Module of NJ501 1 00 Two types of coordinate systems Machine Coordinate System M
181. ns Reference Manual Cat No W508 for details of this instruction It is possible to move the robot along with the desired trajectory by combining this instruction with the MC_InverseKin Inverse Kinematics instruction The outline is shown below MC_Power Turn ON the Servo of each axis of the robot MC_SetKinTransform set a kinematics for the axes group MC_GroupEnable Enable the axes group Execute the steps after this every cycle Calculation of trajectory Create a target position Xi Yi Zi on the machine coordinate system MCS MC_InverseKin Transform the target position Xi Yi Zi to the target value AOi A1i A2i on the axis coordinate system ACS MC_GroupSyncMoveAbsolute Output the target position AOi A1i A2i to the Servo Drive l Precautions for Correct Use When using this instruction those are not checked that the Workspace MaxVelocityTCP MaxAccelerationT CP and MaxDecelerationTCP which are set by MC_SetKinTransform Please pay attention to that Document No 7001 7 0302347E 126 203 MC SetKinTransform lt Robot Ver 1 01 gt The MC_SetKinTransform instruction sets robot control kinematics and workspace check for an axes group Instruction FB Graphic expression _ MC_SetKinTr Set MC_SetKinTransform_instance ansform MC SetKin Transform Kinematics Transform AxesGroup Execute Dons Kin Tranatorm Busy Camrmnands bhorted Error Wier ks pace EnablewWarks pace MaxVeloc
182. nsumption or use of the Products sold hereunder including customs duties and sales excise use turnover and license taxes shall be charged to and remitted by Buyer to Omron Financial If the financial position of Buyer at any time becomes unsatisfactory to Omron Omron reserves the right to stop shipments or require satisfactory security or payment in advance If Buyer fails to make payment or otherwise comply with these Terms or any related agreement Omron may without liabil ity and in addition to other remedies cancel any unshipped portion of Prod ucts sold hereunder and stop any Products in transit until Buyer pays all amounts including amounts payable hereunder whether or not then due which are owing to it by Buyer Buyer shall in any event remain liable for all unpaid accounts Cancellation Etc Orders are not subject to rescheduling or cancellation unless Buyer indemnifies Omron against all related costs or expenses Force Majeure Omron shall not be liable for any delay or failure in delivery resulting from causes beyond its control including earthquakes fires floods strikes or other labor disputes shortage of labor or materials accidents to machinery acts of sabotage riots delay in or lack of transportation or the requirements of any government authority Shipping Delivery Unless otherwise expressly agreed in writing by Omron a Shipments shall be by a carrier selected by Omron Omron wil
183. nt name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Minor fault Recovery Data type _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention Data type _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention Document No 7001 7 0302347E 190 203 570B0000 hex The coordinate system number specified for the CS D input variable to a motion control instruction is out of the setting range or not defined Axes group Detection timing At instruction execution Error reset Log category System Operation is not possible for relevant axes group Operation EN Relevant axes group stops immediately if it is in motion Name Invalid Coordinate System Number Motion Control Function Module Source details The coordinate system number is outof Correct the coordinate system ID for Set a correct coordinate system ID for the setting range the CSID input variable the CSID input variable eaa ite eas ayer NUMRET Define the coordinate system by the Define the coordinate system
184. number or 0 Position 2 LREAL Negative number Target position of Z axis mm positive number or 0 Position 3 5 LREAL O Reserved When using an user coordinate system UCS specify its ID number in the Coordinate System ID CS D If the workspace check function is enabled and it detects an error the axis Group is stopped Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 section L SRIcA AOA Y FA the details of workspace check function e Specifying the Trajectory The parameters to create the trajectory up to the target position are specified by MoveTrajlType TrajTime MaxVelocity and MaxAcceleration of the Trajectory Data TrajData Select the third order polynomial in Movement Trajectory Type Selection Move TrajT ype X axis Target position Target position Current position Y axis Z axis Target position Current position Time Time Time Target time Target time Target time Document No 70017 0302347E 103 203 If any calculated commanded position is outside of the workspace when the workspace check function is enabled an error will be raised and the axes stopped When calculating a commanded position velocity and acceleration of the movement are calculated and checked against the command maximums If exceeding them the following errors will be raised Velocity Error Detection Value MaxVelocity and Acceleration Error Detection Value MaxAc
185. nveyor MC_SyncOut MC_InverseKin MC_DefineToolTransform MC_RobotJog Even if kinematics parameters are set by this instruction you can move each axes by using Axis instructions during the group axis is disabled Even if Disable workspace check EnableWorkspace FALSE input variable is set the parameters for the workspace check function parameters of the input variables defined in sMC_WORKSPACE_REF are set If Kinematics Initialization Error error code 571 F hex has occurred the pre registered Kinematics parameters are removed For this reason if this error occurs please reset the kinematics parameters This instruction can be used when all of the following conditions are satisfied The number of axes registered in the axes group must be the same as the number of axes of the kinematics robot Axis display units that are registered in the group axis must be degree For all axes registered in the axes group the count mode must be set to linear mode For all axes registered in the axes group the home must have been defined The axes group must be disabled e Timing Charts Execute Done Busy Command Aborted Error ErrorlD Kinematics Transform Workspace MaxVelocity TCP MaxAcceleration TCP MaxDeceleration TCP Enable Workspace Document No 7001 7 0302347E 131 203 Document No 7001 7 0302347E 132 203 e Errors If an error occurs during instruction execution Error will
186. o program and set up an NJ series CPU Unit Mainly software information is provided Learning detailed specifica tions on the basic instruc tiors of an NJ seres CPU Unit Learning about motion con trol settings and program ming concepts Learning about the specifi cations of the mation control instructions that are pro vided by OMRON Using the builtin EthercaAT port on an NJ series CPU Unit Using the built in Ether NetvlP port on an NJ series CPU Unit Using the database connec tion service with NJ series Controllers Description An ntreduction to the entire NJ series system is provided along with the following information on the CPU Unit Features and system configuration Introduction Part names and functiors General specifications Installation and wiring Maintenance and inspection Use ths manual together with the NU series CPL Unit Software User s Manual Cat No W501 The following information is provided on a Control ler built with an NJ501 CPU Unit CPU Unit operation CPU Unit features Initial settings Programming based on IEC 61131 3 language specifications Use ths manual together with the NU senes CPL Unit Hardware User s Manual Cat No W500 Theinstructions inthe instruction set IEC 61131 3 specifications are described When program ming use this manual together with the NU series CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU
187. of the workpiece mm positive position or 0 InitWorkpiecePosition 2 LREAL Negative position Current position of Z axis of the workpiece mm positive position or 0 InitWorkpiecePosition 3 5 LREAL JO Reserved When using an user coordinate system UCS specify its ID number in the Coordinate System ID CS D When this instruction is successfully started the above workpiece position is updated along with the conveyor axis movement and command position is created toward the updated workpiece position If the initial workpiece position is outside the workspace when the workspace function is enabled it is considered as an error and the axes are stopped When the current position is outside the workspace the axes are also stopped Document No 7001 7 0302347E 110 203 e Specifying the Trajectory The parameters to create the trajectory to catch up with the workpiece are specified by SyncTrajType TrajTime TrajTransition Traj Distance MaxVelocity and MaxAcceleration of the Trajectory Data TrajData Only Third order polynomial is supported for Synchronization Trajectory Type Selection SyncTrajType in Robot Ver 1 00 The following figure shows the relationship between specified values and trajectory in the flat type Case 1 H1 gt 0 and T1 gt 0 T2 T3 T3 Ttrans2 Trajectory in the case where the workpiece is stopped Z axis I Trajectory in the case lt w where the workpiece is i G moving
188. ommand and it of the buffered command are opposite on the Z coordinate or the rotational axis In Addition in case of rotational axis Direction input of the buffered command is _mcPositiveDirection or _mcNegativeDirection gt The movement on the coordinate which fulfills previous condition finishes before the end of transition If Direction Input is set to mcNoDirection when MC_SyncLinearConveyor is executed as the buffered command with Transition only the target rotation around Z axis of Delta 3R is guaranteed but it might rotate to different directions while moving to the target Pay attention to that because also an overshoot can happen i e rotation around Z axis can rotate over the target rotation and back in some situations The trajectory of TCP is showed in following figure Document No 70017 0302347E 69 203 On the coordinate which is synchronizing with the conveyor before transition The velocity profile of conveyor direction for current instruction is changed to decelerating profile and the buffered instruction is superimposed on it The area of decelerating profile is half as big as TT Vs initial velocity of transition This decelerating profile is performed with an appropriate jerk in order to avoid jump of acceleration Buffered instruction i Current instruction sync with conveyor sy yor a half distance X Without Transition Transition with given start height Document No
189. on Error When there is an error in the execution conditions or input When the error is cleared parameters for the instruction e In Out Variables Name Meaning Data type Valid range Description AxesGroup _sGROUP_REF Specify the axes group Document No 70017 0302347E 169 203 m Function The MC_RobotJog instruction performs jogging of the AxesGroup with kinematics attached according to the specified Velocity Target Velocity To jog in the positive direction of each axis change PositiveEnable Positive Direction Enable of each axis to TRUE To jog in the negative direction of each axis change NegativeEnable Negative Direction Enable of each axis to TRUE If PositiveEnable Positive Direction Enable and NegativeEnable Negative Direction Enable of same axis are changed to TRUE at the same time PositiveEnable Positive Direction Enable of selected axis takes priority As a result that axis will jog in the positive direction Robot can be moved in the required direction along the Cartesian coordinates X Y or Z and around the Cartesian coordinates Rx Ry or RZ The point of the robot to be commanded and the coordinate system to base the movement is defined by the Jog Mode Detailed information of the robot jog modes is in 3 3 9 The jogging is performed according the specified velocity acceleration and deceleration Trajectory follows a trapezoidal profile for each component with the specified accelerat
190. on Enable Enable BOOL TRUE or FALSE FALSE The target position is transformed to axis target positions of each axis when Enable changes to TRUE Position Target Position ARRAY 0 5 Negative number Specify the target position on the OF LREAL positive number or machine coordinate system MCS For Delta3 the unit is mm ToollD 0 Robot Tool ID UINT O to 16 Specify the selected Robot Tool to command e Output Variables Name Meaning Datatype _Validrange Description Valid Enabled BOOL TRUE or FALSE The Axis Target Position AxesPosition below is enabled when Valid is TRUE The axis target position is updated every period AxesPosition Shows the axis target position of each axis that is found by transforming the target position on the machine coordinate system MCS For Delta3 the unit is deg 0 OutWorkspace Outside BOOL TRUE or FALSE TRUE when the target position is outside the Workspace workspace Busy BOOL TRUE or FALSE TRUE when the instruction is acknowledged Error BOOL TRUE or FALSE TRUE while there is an error ErrorlD Error Code WORD Contains the error code when an error occurs A value of 16 0000 indicates normal execution Refer to Robot supported NJ Series CPU Unit User s Manual 7001 7 0302347 Chapter 9 Troubleshooting Output Variable Update Timing Name Valid When the kinematics transform is successfully completed Busy When Enable changes to TRUE Error When there is an error in the execution cond
191. on Value acceleration error too much acceleration deceleration is detected when creating a command position The unit is mm s e Output Variables Name Meaning Datatype Valid range Description Done Done BOOL TRUE or FALSE TRUE when the instruction is completed Busy BOOL TRUE or FALSE TRUE when the instruction is acknowledged CommandAborted BOOL TRUE or FALSE TRUE when the instruction is aborted Aborted Error BOOL TRUE or FALSE TRUE while there is an error ErrorlD Error Code WORD Contains the error code when an error occurs A value of 16 0000 indicates normal execution Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting Document No 7001 7 0302347E 117 203 Output Variable Update Timing Name Done Busy Active CommandAborted Error Timing for changing to TRUE Timing for changing to FALSE When the specified target time is reached When Execute is TRUE and changes to FALSE After one control period when Execute is FALSE When Execute changes to TRUE When Done changes to TRUE When the axis starts moving When Error changes to TRUE When CommandAborted changes to TRUE When this instruction is aborted because another motion control instruction was executed with the When Done changes to TRUE Buffer Mode set to Aborting When Error changes to TRUE When CommandAborted changes to TRUE When this instruction is canceled due to
192. on axis stops User program Continues Operation In the other cases relevant axes group stops on the interpolation trajectory Robot axes group Relevant axes group stops immediately Variable Data type Name _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Assumed cause o o Prevention Check the error code for composition An error occurred for an axis in an axes axes of the axes group and remove group that was in motion E Adee None None When an axis error occurs the axes group that includes the axis cannot operate Conveyor Axis Position Read Error 77000000 hex The MC_SyncLinearConveyor was not executed because an error occurred in the position of the conveyor axis of the MC_SyncLinearConveyor At instruction execution during instruction execution Source details Motion Control Function Module Axes group Detection timing Minor fault Log category System Non robot axes group Follows the operation set in the axes group stop method if a composition axis stops User program Continues Operation In the other cases relevant axes group stops on the interpolation trajectory Robot axes group Relevant axes group stops immediately Data type Name MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Assumed cause Correction Prevention If you execute synchronized instruc tions after you turn ON the power supply download data or reset slave communications
193. on control instruction is out of the setting range The workspace type specified for the Workspace input variable to a motion control instruction is out of the setting range The workspace parameter specified for the Workspace input variable to a motion control instruction is out of the setting range The coordinate system number specified for the CS D input variable to a motion control instruction is out of the setting range or not defined The Pose coordinate transform parameter specified for CoordTransform input variable to a motion control instruction is out of the setting range Calculation of inverse kinematics or direct kinematics is not possible The velocity error detection value specified for the TrajData input variable to a motion control instruction is out of the setting range Document No 7001 7 0302347E 179 203 Assumed cause e An axes group does not exist for the variable specified for the AxesGroup input variable to the instruction e The axes group specified for the AxesGroup input variable to the instruction is not specified as a used group e High speed homing was executed when home was undefined e An interpolation instruction was executed for an axes group that includes an axis with no defined home e Any one of the following instructions was executed MC_MoveLinear MC_MoveLinearAbsolute MC_MoveLinearRelative MC_MoveCircular2D MC_ChangeAxesInGroup e The number of axes in the
194. onveyor is executed as the buffered command and all conditions described below are true an error occurs gt The direction of the current command and it of the buffered command are opposite on the Z coordinate or the rotational axis In Addition in case of rotational axis Direction input of the buffered command is _mcPositiveDirection or _ mcNegativeDirection gt The movement on the coordinate which fulfills previous condition finishes before the end of transition Document No 70017 0302347E 67 203 If Direction Input is set to mcNoDirection when MC_SyncLinearConveyor is executed as the buffered command with Transition only the target rotation around Z axis of Delta 3R is guaranteed but it might rotate to different directions while moving to the target Pay attention to that because also an overshoot can happen i e rotation around Z axis can rotate over the target rotation and back in some situations The trajectory of TCP is showed in following figures Two Time specified Absolute Positioning Commands Buffered instruction Current instruction Without Transition Transition with given start remain time On the coordinate which is synchronizing with the conveyor before transition The velocity profile of conveyor direction for current instruction is changed to decelerating profile and the buffered instruction is superimposed on it The area of decelerating profile is half as big as TT Vs init
195. or Execute InSync Busy Active Command Aborted Error ErrorlD Phase 16 0005 DK 16 0006 MC SyncOut Execute e Re execution of Motion Control Instructions This instruction cannot be re executed A Motion Control Instruction Re execution Disabled error error code 543B hex occurs if re execution is attempted and all axes that are being moved by this instruction stop e Multi execution of Motion Control Instructions A restriction applies to the instructions that can be used while this instruction is in execution For details on multi execution of motion control instructions refer to Robot supported NJ Series CPU Unit Users Manual 7001 7 0302347 Multi execution of Motion Control Instructions of this document Document No 7001 7 0302347E 115 203 e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Error Code Execute InSyne i i Busy Active Command Aborted I J I J a aa i i Error ErrorlD 1640000 Error Code Document No 7001 7 0302347E 116 203 MC_SyncOut The MC_SyncOut instruction ends the synchronization with the conveyor Instruction BRA Graphic expression ST expression i MC_SyncOut End MC _SyncOut_ instance MC_SyncOut Synchroniz AxesGroup ation MC Sane variable_name Aunn nagran Execute
196. ordinate system System ID when a user coordinate system is specified command e Output Variables Name Meaning Data type Valid range Description Busy BOOL TRUE or FALSE TRUE when the instruction is acknowledged CommandAborted BOOL TRUE or FALSE TRUE when the instruction is aborted Aborted Error BOOL TRUE or FALSE TRUE while there is an error ErrorlD Error Code WORD Contains the error code when an error occurs A value of 16 0000 indicates normal execution Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting Output Variable Update Timing Name Timing for changing to TRUE Timing for changing to FALSE Busy When Enable changes to TRUE e When Enable changes to FALSE e When Error changes to TRUE CommandAborted When this instruction is aborted because another e When Execute is TRUE and changes to FALSE motion control instruction was executed with the e After one control period when Execute is FALSE Buffer Mode set to Aborting When this instruction is canceled due to an error Enable of Rotation around X Axis Specify the acceleration rate The unit is command units s Specify the deceleration rate The unit is command units s Specify the jog mode 1 Selected Tool moved in MCS 2 Selected Tool moved in selected When this instruction is executed while there is an error When this instruction is started during MC_GroupStop instruction executi
197. ormally the MC_SyncOut End Synchronization instruction is used to release the synchronization If processing of the primary periodic task has not been finished within one control period there is possibility that Velocity Error Detected or Acceleration Error Detected occurs Please do settings and programming so that the processing of the primary periodic task does not exceed one control period At the moment of starting this instruction MaxVelocity and MaxAcceleration are checked with the trajectory that the workpiece is stopping Therefore it could happen that the velocity error or the acceleration error is detected after Phase 2 due to velocity of the conveyor The details are described below Precautions for Safe Use After the adjustment of mechanical home of the robot please move the robot Do not use robot at out of the workspace without workspace check function If you use may cause damage to the robot If you want to stop the movement of the running in the instruction MC_SyncLinearConveyor please use the instruction MC_SyncOut Due to the way the maximum interpolation velocity of this command is calculated it could happen that in the Phase 2 or in Phase 4 the velocity error too fast or the acceleration error Document No 70017 0302347E 108 203 too much acceleration deceleration is detected even if those error was not detected at the moment of starting this instruction pre check This is due to the superpos
198. orrection Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Document No 70017 0302347E 200 203 57360000Hex The offset functionality cannot be enabled because MC_SyncLinearConveyor is not in Phase 6 At instruction execution during instruction execution Minor fault Log category System Operation is not possible for relevant axes group Operation Relevant axes group stops immediately if it is in motion Data type Name BOOL S Source details Motion Control Function Module Axes group Detection timing _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention EnableOffset is TRUE when Set EnableOffset during MC_SyncLinearConveyor has not synchronization reached to Phase6 TrajStatus Phase 6 Set EnableOffset during synchronization TrajStatus Phase 6 None None Motion Control Instruction Multi execution Disabled Evonbcode 457370000Hex trajectory type On Multi execution Trajectory type of buffered instruction is changed Motion Control Function Module Source details Detection timing ae Lessee Hen Minor fault Log category System Relevant axes group stops immed
199. ot is stopped at a position where direct kinematics calculation is not possible After turning OFF the Servo of each axis of the robot ensure the safety and then move the robot to the moving range Reconsider the program to move the robot within the moving range The inverse kinematics calculation is not possible for the specified target position on the machine coordinate system Set the target position within the moving range of the robot Set the target position within the moving range of the robot None None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Data type _ MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Set the kinematics transform for the The kinematics transform is not set for the axes group axes group using the MC_SetKinTransform instruction Data type _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Document No 7001 7 0302347E 191 203 57100000 hex The kinematics transform is not set for the specified axes group Kinematics Tr
200. ot possible for relevant axes group Se tell el an PAoa ENO KEN Relevant axes group stops immediately if it is in motion Data type Name _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Correction Prevention Assumed cause Any one of the following instructions was executed for an axes group for which a kinematics transform is set MC_MoveLinear Correct the program so that the instruction is not executed for the Do not execute the instructions for the axes group for which kinematics transform is set MC_MoveLinearAbsolute MC_MoveLinearRelative MC_MoveCircular2D MC_ChangeAxesInGroup axes group for which kinematics transform is set None None Different Composition between Axes Group and Kinematics 57060000 hex The composition is different between the specified axes group and the specified kinematics D OPR At instruction etection timing Secuii Motion Control Function Module Source details Axes group Minor fault Log category System Operation is not possible for relevant axes group Variable Data type Name _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Correction Prevention Change the number of axes in the axes group to the number of axes necessary for the specified robot kinematics type Assumed cause The number of axes in the axes group is different from the number of axes necessary for the specified robot kinematics type Set the same number of a
201. owe r3_Erro riD 2 Set the Delta3R kinematics transform for Axes Group 0 and enable the axes group Set kinematics transform Ins_SetKinTransformm MC _SetKinTransionm SetKinTranstonm_Execute Ci l AxesGroup sro McC_Groupooo SetKinTranstonm_Done Execute SetKinTransform_KinTransfomm Kin Transform SetKinTransform_Busy SetKinTransform_Workspace Workspace SetkinTranstorm_CommandAborted SetKinTransform_EnableWorkspace EnableWorkspace SetKinTranstorm_Ermror SetKinTransform_MaxVelocityTCP MaxVelocityTCP SetKiniransfiorm_ErroriD SetKiniranstomm_ MaxAcceleration CP MaxAcceleratianlCP SetKinTransform_MaxDeceleration P MaxDecelerationTCP Enable axes group Ins_GroupEnable ME _GroupEnable GroupEnable_Execute MC_Group000 AxesGroup AxesGroup MC_Groupaoo GroupEnable_Done GroupEnable Busy GroupEnable_CommandAborted GroupEnable Error GroupEnable ErrorlD Document No 7001 7 0302347E 177 203 3 Define Robot tools and User Coordinate Systems if necessary Define UCS MC_DefineCoordSystem DefineCoordSystem_Execute MC_Group000 AxesGroup AxesGroup A DefineCoordSystem_Done Execute Done CoordTransform Busy DefineCoordSystem_Busy CommandAborted DefineCoordSystem_CommandAborted Error DefineCoordSystem_Error DefineCoordSystem_ErroriD Define tool Ins_DefineToo Transform MC_DefineToo Transform DefineToo lTransform_Execute MC_Group0
202. pace function is enabled it is considered as an error and the axes are stopped When the current position is outside the workspace the axes are also stopped e Specifying the Trajectory The parameters to create the trajectory to catch up with the workpiece are specified by SyncTrajType TrajTime TrajTransition TrajDistance MaxVelocity and MaxAcceleration of the Trajectory Data TrajData Only Flat is supported for Synchronization Trajectory Type Selection SyncTrajType currently The following figure shows the relationship between specified values and trajectory in the flat type Case 1 H1 gt 0 and T1 gt 0 1 r T1 H1 T1 Ttrans1 Current S position of When the robot position the robot and the workpiece position become same InSync changes to TRUE Execution scope of the MC_ SyncLinearConveyor instruction T3 T3 Ttrans2 Trajectory in the case where the workpiece is stopped Z axis Trajectory in the case where the workpiece is moving X axis InSync is TRUE in this range lt Terms gt 11 12 13 Trajectory Target Time ms Ttrans1 Ttrans2 Trajectory Transition Ratio H1 Trajectory Distance Z axis direction in Machine coordinate system MCS mm Document No 70017 0302347E 156 203 The command position to move the robot from the current position to current position HT Z axis in T1 is created The command position to follow the workpiece after 1
203. r creating command current positions up to TrajData Trajectory Data _SMC_SYNC_TRAJ_RE F the target position EnableOffset Enable Offset BOOL TRUE or FALSE FALSE The offset positions are enabled when Enable is TRUE PositionOffset Mixed Position ARRAY 0 5 OF LREAL Negative number Specifyed the offset positions Offset positive number or 0 CoordSystem Coordinate _eMC_RBT COORD _S 1 mcRBT MCS System YSTEM 3 mcRBT_UCS when a user coordinate system is CSID Coordinate UINT 0 to 15 specified command BufferMode Buffer Mode _eMC_ BUFFER MODE 0 _mcAborting 0 Specify the behavior when Direction Rotation ARRAY 0 3 Direction OF _eMC_DIRECTION O _mcPositiveDirec tion 2 mcNegativeDire ction 1 Specify the coordinate system of the target position 1 Machine coordinate system MCS 3 User coordinate system UCS Specify the ID of coordinate system Document No 7001 7 0302347E 151 203 control instruction 0 Aborting ODE 0 Transition disabled TransitionParamete Transition ARRAY 0 7 Negative number Set the parameters for transition 0 _sMC_SYNC_TRAJ REF Member Data type Valid range Function variable SyncTrajType Synchronization _eMC_SYNC_TRAJ__ 0 _mcFlatTraj Specify the trajectory type to create command Trajectory Type TYPE current position for synchronization with the Selection 2 _mcFlatTrajModS conveyor 0 Third order polynomial ine 2 Modified sine 3 _mcFlatTrajModC
204. r must therefore perform the final check to confirm that devices and the overall machine conform to EMC standards Applicable EMC Electromagnetic Compatibility standards are as follows EMS Electromagnetic Susceptibility EN 61131 2 and EN 61000 6 2 EMI Electromagnetic Interference EN 61131 2 and EN 61000 6 4 Radiated emission 10 m regulations Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 VAC and 75 to 1 500 VDC meet the required safety standards The applicable directive is EN 61131 2 Conformance to EC Directives The NJ series Controllers comply with EC Directives To ensure that the machine or device in which the NJ series Controller is used complies with EC Directives the Controller must be installed as follows The NJ series Controller must be installed within a control panel You must use reinforced insulation or double insulation for the DC power supplies connected to DC Power Supply Units and I O Units NJ series Controllers that comply with EC Directives also conform to the Common Emission Standard EN 61000 6 4 Radiated emission characteristics 10 m regulations may vary depending on the configuration of the control panel used other devices connected to the control panel wiring and other conditions You must therefore confirm that the overall machine or equipment complies with EC Directives Document No 70017 0302347E 26 203 Conformance to Shipbuilding Standards
205. range Motion Control Function Module Source details Detection timing A oags Minor fault Log category System Operation is not possible for relevant axes group If relevant User program Continues Operation axes group is in motion non robot axes group decelerates to a stop and robot axes group stops immediately Data type Name Axes Group Minor Fault Occurrence Prevention Correct the parameter so that the Set the input parameter to the instruction Instruction input parameter exceeded the valid range of the input variable valid range of the input variable is not so that the valid range of the input exceeded for the relevant instruction variable is not exceeded If you specify _mcAborting or If you specify _mcAborting or _mcBuffered for BufferMode specify _mcBuffered for BufferMode specify meAbonra ot mePunersd WES _mcTMNone for TransitionMode _mcTMNone for TransitionMode defied A BufferMode and If you specify other than _mcTMNone If you specify other than _mcTMNone for p n for TransitionMode specify TransitionMode specify other than _mcTMNone was specified mcBlendingLow mcBlendingLow or Men eMoos _mcBlendingPrevious _mcBlendingPrevious _mcBlendingNext or _mcBlendingNext or _mcBlendingHigh _mcBlendingHigh for BufferMode for BufferMode None None Motion Control Instruction Re execution Disabled 543B0000 hex An attempt was made to re execute a motion control instruction that cannot be re executed Motion Motion
206. rdless of whether the workspace function is enabled or disabled Outside Workspace OutWorkspace changes to TRUE and Enabled Valid changes to FALSE If the transform target position to the target position in the Actual Coordinate System ACS is successfully completed at that time the Enabled Valid changes to TRUE e Other Specifications This instruction can be used when the following condition is satisfied The kinematics must have been set by the MC_SetKinTransform instruction Document No 70017 0302347E 166 203 e Timing Charts Enable Valid Busy OutWorkspace Error Position in ACS No Valid Position in MCS e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Error Code Enable Valid Busy Error ErrorlD 16 0000 Error Code AxesPosition _ No Valid Document No 7001 7 0302347E 167 203 MC_RobotJog lt Robot Ver 1 01 gt The MC_RobotJog instruction jogs a robot defined by an Axes Group according the selected target velocity and Acceleration Instruction FB Graphic expression FUN MC_RobotJog instance MC RobotJog MC_RobotJo Robot Jog g m Variables e Input Variables Name Meaning _ _Data type Valid range Default BOOL TRUE FALSE FALSE When this variable changes to TRUE the axis starts moving in the positive direction
207. rect the maximum velocity of the MaxAccelerationT CP input variable Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion Name Axes Group Minor Fault Occurrence Prevention Set a correct the trajectory data so that the command acceleration is lower than the MaxAccelerationT CP input variable Set a correct value for the MaxAccelerationT CP input variable Maximum interpolation deceleration over passed x 645C0000Hex The commanded deceleration of the default TCP overpasses the maximum robot deceleration set in MC_SetKinTransform Motion Control Function Module Source details Axes group During instruction execution Detection timing Minor fault Log category System Data type _MC_GRPf MFaultLvl Active BOOL Correct the trajectory data so that the command deceleration is lower than the MaxDecelerationTCP input Wrong specified trajectory data of current instruction variable Specified value for MaxDecelerationTCP input variable of MC_SetKinTransform is wrong or too low None None Started the Transition by correcting TransitionParameters Started the Transition by correcting TransitionParameters Motion Control Function Module Correct the maximum velocity of the MaxDecelerationTCP input variable Source details Detection timing Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion
208. rent position of robot rotation around X axis deg Command current position of robot rotation around Y axis deg Command current position of robot rotation around Z axis deg Description Actual current position of X axis mm Actual current position of Y axis mm Actual current position of Z axis mm Actual current position of robot rotation around X axis deg Actual current position of robot rotation around Y axis deg Actual current position of robot rotation around Z axis deg Description Actual current velocity of the TCP TCP velocity SQRT Vx Vy Vz mm s Description Actual current velocity of X axis Vx mm s Actual current velocity of Y axis Vy mm s Actual current velocity of Z axis Vz mm s Actual current velocity of robot rotation around X axis VRx deg s Actual current velocity of robot rotation around Y axis VRy deg s Actual current velocity of robot rotation around Z axis VAz deg s Document No 70017 0302347E 141 203 When the Valid output has changed from TRUE to FALSE the value of the Position and Velocity Output variables are retained This instruction can be used when all of the following conditions are satisfied The kinematics must have been set by the MC_SetKinTransform instruction For all axes registered in the axes group the home must have been defined When a user coordinate system is used the coordinate system ID which is specified by the
209. rent positions up to the target position Specify the coordinate system of the target position 1 Machine coordinate system MCS 3 User coordinate system UCS Specify the ID of coordinate system when a user coordinate system is specified Specify the selected Robot Tool to command Specify the behavior when executing more than one motion control instruction Aborting Buffered Blending Low BlendingPrevious BlendingNext BlendingHigh Specify the path of motion 0 Transition disabled 11 Start Height 12 Start Remaining Time Ot ee Document No 70017 0302347E 144 203 mainingTime EE TransitionParameter Transition ARRAY 0 7 Negative number Set the parameters for transition Parameters OF LREAL positive number or Reserved 0 _sMC_MOVE_TRAJ REF Member Data type Valid range Function variable MoveTrajT ype Movement _eMC_MOVE_TRAJ_ 0 _mcPolynomial3 Specify the trajectory type to create command Trajectory Type TYPE 1 mcRBT_Modifie current position of each axis Selection dSine 0 Third order polynomial 1 Modified sine TrajTime Trajectory Target UINT Positive number Specify the time to create command current Time positions from current position to target position The unit is ms MaxVelocity Velocity Error LREAL Positive number Specify the velocity at which a velocity error too Detection Value fast is detected when creating a command current position of active tool The unit is mm s Max
210. restarted when routing tables are transferred from Support Software to the CPU Unit Confirm that the system will not be adversely affected by restarting before you transfer the routing tables Tag data links will stop between related nodes while tag data link parameters are transferred during Controller operation Confirm that the system will not be adversely affected before you transfer the tag data link parameters EtherNet IP Communications All related EtherNet IP nodes are reset when you transfer settings for the built in EtherNet IP port including IP addresses and tag data links settings Confirm that the system will not be adversely Document No 70017 0302347E 19 203 affected by resetting nodes before you transfer the settings If EtherNet IP tag data links cyclic communications are used with a repeating hub the communications load on the network will increase This will increase collisions and may prevent stable communications Do not use repeating hubs on networks where tag data links are used Use an Ethernet switch instead EtherCAT Communications Make sure that the communications distance number of nodes connected and method of connection for EtherCAT are within specifications Do not connect EtherCAT communications to EtherNet IP a standard in house LAN or other net works An overload may cause the network to fail or malfunction Malfunctions or unexpected operation may occur for some combinations
211. rm KinTransform Busy SetKinTransform_Bu SetKinTransform_Workspace j Workspace SetKinTransform_CommandAborted SetKinTransform_EnableWorkspace 4 EnabieWorkspace Err SetKinTransform_Error Enter Variable 4MaxVelocityTCP SetKinTransform_ErroriD ter Variable MaxAccelerationTCP Joriable j MaxDecelerationTCP 6 Repeat operations 4 and 5 for all instructions which have to be modified 7 4 Details This section describes the robot instructions and the MC_GroupSyncMoveAbsolute instruction that can be used for robots Refer to the NJ series Motion Control Instructions Reference Manual Cat No W508 for other instructions Instruction FB Graphic expression _ MC_SetKinTransform_instance MC_SetKinTr Set Document No 70017 0302347E 86 203 MC SetKinTransform lt Robot Ver 1 00 gt The MC_SetKinTransform instruction sets robot control kinematics and workspace check for an axes group ST expression MC_ SetKinTransform _instance ansform Kinematics AxesGroup parameter Transform MIC SetKinTransform Execute parameter AxesGroup we AxesGroup KinTransform parameter Workspace parameter Execute Done EnableWorkspace parameter Kin Transform Busy Done gt parameter Workspace CommandAborted Busy gt parameter Error gt parameter EnableWorkspace aed ErrorlD gt parameter ErrorlD m Variables Input Variables Name Meaning Data type Valid range Default Description Execute The instruct
212. roup Basic Settings Axes group use Used axes group Composition 3 axes Logical axes Axis AO Assign the axis at the AO position in the below figure Axis A1 Assign the axis at the A1 position in the below figure Axis A2 Assign the axis at the A2 position in the below figure Ym Axes Group Operation Settings Even if you set Decelerate axes to a stop to the Axis Group Stop Method then it Immediately stop 8 If you move each axis of the robot independently it moves according to the setting of axis parameters so you set the axis parameters of each axis according to the machine specifications Set the same axis parameters to 3 axis Axis Basic Settings Axis Use Select Used axis Axis Type select Servo axis or Virtual servo axes Feedback information No control loop Node Address input devices and output devices node address of the Servo axis Document No 7001 7 0302347E 77 203 Unit Conversion Settings Unit of Display Select degree Unit Command pulse count per motor rotation Set to design value Work travel distance per motor rotation Set to design value Operation Settings lt Maximum velocity acceleration deceleration gt Maximum Velocity 1 Set to design value Maximum Jog Velocity Any value Maximum Acceleration Set to design value Maximum Deceleration Set to design value Acceleration Deceleration Over Any value Operation Selection at Reversing Any value
213. rror changes to TRUE e In Out Variables Name Meaning Data type Valid range Description AxesGroup _sGROUP_REF Specify the axes group m Function Document No 7001 7 0302347E 123 203 This instruction is used to transform the target position Position on the machine coordinate system MCS of the robot to the target position on the axis coordinate system ACS of each axis For Delta3 the settings of the specified target position Position and the transformed axis target position AxesPosition are shown below Position Name Data type Valid range Description Position 0 LREAL Negative number Target position of X axis on the machine positive number or coordinate system MCS mm 0 Position 1 LREAL Negative number Target position of Y axis on the machine positive number or coordinate system MCS mm 0 Position 2 LREAL Negative number Target position of Z axis on the machine positive number or coordinate system MCS mm 0 Position 3 5 LREAL 0O Reserved AxesPosition Name Data type Valid range Description AxesPosition 0 LREAL Negative number Target position of AO axis on the axis coordinate positive number or system ACS deg 0 AxesPosition 1 LREAL Negative number Target position of A1 axis on the axis coordinate positive number or system ACS deg 0 AxesPosition 2 LREAL Negative number Target position of A2 axis on the axis coordinate positive number or system ACS
214. rsions and for the functions that are supported by each unit version Unit Version Notation In this manual unit versions are specified as shown in the following table Product nameplate Notation in this manual Remarks Yer 1 0 of later to the right of Unit version 1 0 or later Unless unit versions are specified the information in this manual the lot number applies to all unit versions Related Manuals Document No 70017 0302347E 30 203 The following manuals are related to the NJ series Controllers Please read these manuals surely Manual name NJ seres CPU Unit Hardware User s Manual MJ series CPU Unit Soft W501 NJ5071 OO00O ware User s Manual NWJI30 OOO MJ series Instructions W502 A504 LILILICI Reference Manual NI301 OOO W507 Nw S07 LILILILI NJ3801 OOOO W506 NJ501 0000 NJ301 ULLLI NJ seres CPU Unit Built W505 NJ501 0000 inEtherCAT Port User s Jae Oooo Manual NJ501 O0000 N37 LILILILI W500 NJ s ries CPU Unit Motion Control User s Manual NJ s ries Motion Control Instructions Reference Manual NJ s s ries CPU Unit Built W506 NJ501 OLULILI in EtherNevIP Port NJ301 UOULI Users Manual MW J series Database Con W527 NwJS01 1L20 nection CPU Units User s Manual Leaming the basic specifi cations of the NJ series CPU Units including intro ductory information design ng installation and maintenance Mainly hard ware information is pro vided Learning how t
215. rted Error BOOL TRUE or FALSE TRUE while there is an error ErrorlD Contains the error code when an error occurs Error Code WORD A value of 16 0000 indicates normal execution Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Chapter 9 Troubleshooting Document No 70017 0302347E 87 203 Output Variable Update Timing Name Timing for changing to FALSE Done e When Execute is TRUE and changes to FALSE e After one control period when Execute is FALSE e When Error changes to TRUE CommandAborted e When Execute is TRUE and changes to FALSE One period after the Execute became FALSE Error When there is an error in the execution conditions or input When the error is cleared parameters for the instruction e In Out Variables Name Meaning Data type Valid range Description AxesGroup _sGROUP_REF Specify the axes group m Function This instruction is used to set the kinematics and workspace check parameters for a specified axes group 1 For Kinematics Kinematics type robot s link length and home adjustment parameter 2 For workspace check Workspace type and workspace volume l Precautions for Correct Use When using MC_GroupSyncMoveAbsolute the Workspace is not checked Please pay attention to that For Delta3 the following values are set for the variables defined by the _sMC KIN REF and _SMC_WORKSPACE_REF data types _sMC_KIN_REF KinType Name Data type V
216. ruction is not being executed e The MC_SyncLinearConveyor instruction is being executed but the robot is not in synchronization with the conveyor sMC_SYNC_TRAJ_STATUS Phase lt gt 6 e The setting number of kinematics transform exceed 8 by the MC_SetKinTransform instruction NJ501 4300 4400 4500 e The setting number of kinematics transform exceed 1 by the MC_SetKinTransform instruction NJ501 4310 e Any one of the axes A0 to A2 of the robot is stopped at a position where direct kinematics calculation is not possible e The specified trajectory data is not correct The trajectory passes outside the workspace e The current position at the time when any one of the following instructions is executed is outside the workspace MC_MoveTimeAbsolute MC_SyncLinearConveyor MC_SyncOut e The conveyor position was changed immediately before the robot catches up with the workpiece e Actual current position of the conveyor is not correct Coo T T es Gs Gs Gs GO QO i oo T T Gs GG GO T f o a Document No 70017 0302347E 181 203 Event code Event name Meaning Assumed cause 67030000 hex Velocity Error The command velocity exceeded e The command velocity in the combination of Detected the velocity error detection value the parameters trajectory target time and specified for the TrajData input distance target position command current variable to a motion control position specified for the TrajData input instruction var
217. s being calculated 0 This instruction is not being executed 1 t lt Ttrans1 T1 2 Ttrans1 71 lt t lt T1 3 T1 lt t lt 1 T2 4 T1 T2 lt t lt T1 T2 T3 T3 Ttrans2 5 T1 T2 T3 T3 Ttrans2 lt t lt T1 T2 T3 6 T1 T2 T3 lt t Phase A Phase When setting Trajectory Transition Ratio parameters Ttrasn1 and Ttrans2 to 100 control period of phase 2 and 4 is not to be 0 At least One control period is secured as below Phase This instruction is not being executed tsT1 T1 lt t lt T1 One control period T1 One control period lt t lt T1 T2 T1 T2 lt t lt T1 T2 One control period T1 T2 One control period lt t lt T1 T2 T3 T1 7T2 T3 lt t Oak WN O Document No 7001 7 0302347E 161 203 e Timing Charts The timing chart of this instruction is shown below The one for stopping this instruction by the MC_SyncOut instruction is also shown below MC SyncLinearConveyor Execute InSyne Busy Active Command Aborted Error ErrorlD Phase 16 0005 DK 16 0006 MC SyncOut Execute e Re execution of Motion Control Instructions This instruction cannot be re executed A Motion Control Instruction Re execution Disabled error error code 543B hex occurs if re execution is attempted and all axes that are being moved by this instruction stop e Multi execution of Motion Control Instructions A restriction applies to the instructions that
218. s control 32 axes max when using NJ501 4400 eontrolled axes 16 axes max when using NJ501 4300 4310 Linear interpolation axis control Circular interpolation axis control Pulse mm um nm degree and inch Perret Electronic gear ratio Pulse per motor rotation travel distance per motor rotation Positions that can be managed Command positions and actual positions TE ETETE E on or positive long reals LREAL or 0 command Negative or positive long reals LREAL or 0 command Velocity command values units s 400 MHz max when converted to pulses when using G5 AREETAN Poe eee Positive long reals LREAL or 0 command units s deceleration command values Jerk command values Positive long reals LREAL or 0 command units s 4 axes Max per axes group Override factors 0 00 0 01 to 500 00 Axis types Servo axis virtual servo axis encoder axis and virtual encoder axis The same control period as that is used for the process data Motion control period communications cycle for EtherCAT Robot function to be use in 1ms 2ms or 4 ms control period Number of cam data 65 535 points per cam table points 1 048 560 points max for all cam tables Cams Number of cam tables 640 tables max Cam profile curves To be created in the Cam Editor Document No 7001 7 030234 7E 38 203 Cl Rewriting of cam data Cam data can be rewritten in the user program Axis coordinate system fax l l ACS axis coordinate syste
219. s used when the user wants to move the robot to a specific position The MC_MoveTimeAbsolute instruction described later is used to move the robot by the time specified absolute positioning command Document No 7001 7 0302347E 57 203 3 3 6 Synchronization with Conveyor The command value to make the robot catch up with a specified workpiece on a conveyor from the current position is created Once the robot catches up with the workpiece it moves in synchronization with the workpiece When the robot moves to the next target position the synchronization is released Catching up with the workpiece Synchronized with Current the workpiece position N Synchronization released Sensor Z V a Ww The MC_SyncLinearConveyor instruction described later is used to synchronize with the conveyor and MC SyncOut instruction described later is used to release the synchronization Document No 7001 7 0302347E 58 203 3 3 6 1 Offset In Robot Ver 1 01 or later the offset functionality can be used The function adds offset positions to the robot position and orientation when it is synchronized with a conveyor Offsets are applied each control cycle to the output of the MC_SyncLinearConveyor Therefore it is possible to Keep synchronization with conveyor while other movements are performed Example Enable Offset Disabled Enabled Enabled Enabled Disabled Position offset X 3 po Position offsetY 10 10 10
220. seeeeesseeeesseeeesseeessaeeeeas 133 MC_GroupMon lt Robot Ver 1 01 gt cccccccccsssceceeseeceeseeeeeeeeeeacesseaeeeseaeeeseaeeeseaeeesseeessaeeesseeeessgeessugeeees 137 Document No 70017 0302347E 6 203 MC Move TimeAbsoluite lt Robot Ver 101 ssc ccc eek seaccceeeacene cease ceased saan canaead aadcenaene euedereiancenoe decease 143 MG SsynclinearConveyor lt RObot Ver 01 gt OL Ree eee eee oes 150 WIG IV ERSCICI RODO VEr T OTF hace ser ae ee a aac tac nano dane aaaanedanesanssase dae eae 163 ME TRODOLIOG Ss RODOVE LOT aia deaseareasd eanseciensdcieniecced R 167 Multi execution of Motion Control Instructions ccccccccceeccceeeceeeeeeeseeeeeseeeeeseeeeesseeeesseeeesseeeesseeeesseeetas 173 M ADORN ee acta ectyctectoa gates asesaee oc sce cacnnesseasenceesacoscseecsoeaseaccesasoetnensse cseesesacoscseacsesaeseccesanseenasesbenstecanse 173 Sette ttt arate ae 174 Oe STG Chto dca cance dee doe dee decade ae deck dren A E E AN A A A dense eee eek 174 State Transition Of RODOT INSIFUCTIONS isda ccceiacedededecedacedadadededacededudedadecededadededucedadededadscededadedadsdededsteaeduantedes 175 sample Programming ener eee tee Serer ie teeter teeta tee tet ee eee ee eee 176 Trouble Shooling m Aran aes gn cataract ran rage A 178 HTM MM areata edad dace E E E EE E E ee 178 9 2 Error OCOD Ia Sree cece cnet sete cece eneh coreaie nls ci ais ne nie ne eecteesconeeseeueeamienanie ie Nani ee Nee EGG oara nrn DADAR EADE tee REE rannen ar
221. settings Buffer Mode Selection Description Aborting Aborts the instruction being executed and switches to this instruction If the direction of axis motion is reversed by switching instructions the motion will be reversed according to the Operation Selection at Reversing axis parameter Buffered Buffers this instruction and executes it automatically after the current instruction is completed Blending Starts the buffered instruction at the velocity transit velocity at which the current instruction reaches the target position The operation of the current instruction is changed so that the axes reach the target position at the transit velocity There are four methods to specify the transit velocity These are described below Blending low The lower of the target velocities of the current instruction and the buffered instruction is used as the transit velocity Blending previous The target velocity of the current instruction is used as the transit velocity Blending next The target velocity of the buffered instruction is used as the transit velocity Blending high The higher of the target velocities of the current instruction and the buffered instruction is used as the transit velocity For details on BufferMode Buffer Mode Selection refer to the NJU series CPU Unit Motion Control User s Manual Cat No W507 eTransitionMode TransitionMode specifies how to join the motions for this interpolation instruction and the previous in
222. shall not attempt to duplicate it in any way without the written permission of Omron Notwithstanding any charges to Buyer for engineering or tooling all engineering and tooling shall remain the exclusive property of Omron All information and materials supplied by Omron to Buyer relating to the Products are confidential and proprietary and Buyer shall limit distribution thereof to its trusted employees and strictly prevent disclosure to any third party Export Controls Buyer shall comply with all applicable laws regulations and licenses regarding i export of products or information iii sale of products to forbidden or other proscribed persons and ii disclosure to non citizens of regulated technology or information Miscellaneous a Waiver No failure or delay by Omron in exercising any right and no course of dealing between Buyer and Omron shall operate as a waiver of rights by Omron b Assignment Buyer may not assign its rights hereunder without Omron s written consent c Law These Terms are governed by the law of the jurisdiction of the home office of the Omron company from which Buyer is purchasing the Products without regard to conflict of law princi ples d Amendment These Terms constitute the entire agreement between Buyer and Omron relating to the Products and no provision may be changed or waived unless in writing signed by the parties e Severability If any provi sion hereof is rendered ineffective or invali
223. ster Cancel License registration is completed The entered license will become effective after Sysmac Studio is restarted 5 Confirm that Robot Option is displayed like following window and restart Sysmac Studio i eno g Sysmac Studio 7 anaa aich A Offline Sysmac Studio Module version 1 0 3 203 un New Project Copyright c OMRON Corporation 2011 ae hi All Rights Reserved ts 7 OMRON Corporation sass m Open Project License Installed products Standard Edition Ver 1 03 Robot Option a en Import Product details Warning This program is protected by copyright law and aa je international treaties Unauthorized reproduction or distribution of Register License Eeseeierseeeeenpetmereten 4 1 2 Procedures of Unregistering Robot Option When you will move the license of Robot Option to another PC Please unregister Robot Option with following steps Document No 7001 7 0302347E 74 203 1 Launch Sysmac Studio press License button in left side of start window and press Unregister License button Sysmac Studio Module version 1 0 3 203 wn New Project Copyright c OMRON Corporation 2011 ae All Rights Reserved gt OMRON Corporation m Open Project License A Offline Sysmac Studio mr Installed products Standard Edition Ver 1 03 Robot Option Product details Waring This program is protected by copyright law and intemational treaties Unauthorized reproduct
224. t and Servomotor e g when you add or replace a servomotor define home again To restore the information without changing the CPU Unit Servomotor combination remove the absolute encoder home offset from the data to restore Task Settings lf a Task Period Exceeded error occurs shorten the programs to fit in the task period or increase the setting of the task period Motion Control Use the system defined variable in the user program to confirm that EtherCAT communications are established before you attempt to execute motion control instructions Motion control instructions are not executed normally if EtherCAT communications are not established Use the system defined variables to monitor for errors in communications with the slaves that are controlled by the motion control function module Motion control instructions are not executed normally if an error occur in slave communications Before you start an MC Test Run make sure that the operation parameters are set correctly Do not download motion control settings during an MC Test Run EtherCAT Communications Do not disconnect the EtherCAT slave cables during operation The outputs will become unstable Set the Servo Drives to stop operation if an error occurs in EtherCAT communications between the Controller and a Servo Drive Battery Replacement Be sure to install a replacement Battery within two years of the production date shown on the Battery lab
225. t be degree That the number of axes that registered in kinematics robot are the same number of axes that are registered in the group axis For all axes registered in the axes group the count mode must be set to linear mode For all axes registered in the axes group the home must have been defined The axes group must be disabled Document No 70017 0302347E 89 203 e Timing Charts Execute Done Busy Command Error R a qn KinTranstorm Workspace X EnableWorkspace Document No 70017 0302347E 90 203 e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Execute Done aa Busy l Command Aborted m o Error ErrorlD 16 0000 Error Code Document No 7001 7 0302347E 91 203 MC_DefineCoordSystem The MC_DefineCoordSystem instruction sets a user coordinate system for a specified robot axes group Instruction REAREA Graphic expression ST expression i MC_DefineC Define MC _DefineCoordSystem __ instance MC_ DefineCoordSystem _instance oordSystem Coordinate AxesGroup parameter m MC DefineCoordSystem feeutesparameter tor AxesGroup AxesGroup Done gt parameter Execute Done Busy gt parameter 36 Error gt parameter CoordTransform Busy ErrorlD gt parameter Comm
226. t exceeded Instruction input parameter exceeded the valid range of the input variable None None Coordinate System Selection Out of Range 542C0000 hex The parameter specified for the CoordSystem input variable to a motion control instruction is out of range Motion Control Function Module Minor fault Log category System Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion If the axes group is robot stops immediately Name User program Continues Operation Prevention Set the input parameter to the instruction so that the valid range of the input variable is not exceeded Correction C 7 pore n the parameter so that the valid range of the input variable is not exceeded for the relevant instruction Assumed cause sisis Assumed cause sisis Instruction input parameter exceeded the valid range of the input variable None None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Document No 7001 7 0302347E 184 203 Transition Mode Selection Out of Range 54320000 hex The parameter specified for the TransitionMode input variable to a motion control instruction is out of
227. t name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Document No 7001 7 0302347E 199 203 Illegal Robot Tool ID 57320000Hex The Tool Coordinate System Identifier specified as variable for the input ToollD is out of range or has not been defined Event code Motion Control Function Module Minor fault Log category System Ser program Conme Oe An Operation is not possible for relevant axes group prog p Relevant axes group stops immediately if it is in motion Variable s Data type Name _MC_GRPJ MFaultLvl Active BOOL Axes siik Minor Fault Occurrence Ne l Correct to tool ID of the Too D input Set a correct tool ID for the Tool D input Specified wrong value of ToollD input vancble Specified Tool Coordinate System ID Define the tool with MC_DefineToolTransform Define a tool and select the defined tool has not been defined in MC_DefineToolTransform None None Illegal Tool Coordinate Transformation parameters 57330000Hex The Tool Coordinate Transformation parameters specified as variable for the input CoordTransform are of wrong values At instruction MC common execution Motion Control Function Module Source details Detection timing S
228. takes up to approximately 10 to 20 s to enter RUN mode after the power is turned ON During that time outputs will be OFF or will be the values specified in the Unit or slave settings and external communications cannot be performed Use the RUN output on the Power Supply Unit for example to implement fail safe circuits so that external devices do not operate incorrectly Configure the external circuits so that the power supply to the control system turns ON only after the power supply to the Controller has turned ON If the power supply to the Controller is turned ON after the control power supply temporary errors may result in incorrect control system signals because the output terminals on Output Units may momentarily turn ON when power supply is turned ON to the Controller Actual Operation Check the user program data and parameter settings for proper execution before you use them for actual operation Turning OFF the Power Supply Never turn OFF the power supply to the Controller when the BUSY indicator is flashing While the BUSY indicator is lit the user program and settings in the CPU Unit are being backed up in the built in non volatile memory This data will not be backed up correctly if the power supply is turned OFF Also a major fault level Controller error will occur the next time you start operation and operation will stop Do not turn OFF the power supply or remove the SD Memory Card while SD Memory Card access is i
229. tational axis in Cartesian coordinate system Positive Direction _mcPositiveDirection Negative Direction _mcNegativeDirection Document No 70017 0302347E 84 203 1 _mcPositiveDirection Rotation axis is set to move in the positive direction counter clockwise so that the robot achieves the target position set in the Position input If target position RZ is less than current orientation around Z the rotational axis will move over 180 deg 2 _mcNegativeDirection Rotation axis is set to move in the negative direction clockwise so that the robot achieves the target position set in the Position input If target position Rz is greater than current orientation around Z the rotational axis will move Negative Direction Positive Direction i over 180 deg Cartesian PositionIdeal 540 360 180 0 180 360 540 Position of Axis A3 in 3 mcNoDirection Robot will move the rotation axis so that it achieves the target position keeping the rotation around Z position in the same turn of its kinematics range Example case that the rotational axis will move over 180 deg Current orientation around Z 150 deg Target rotation around Z 150 deg Direction _mcNoDirection Current orientation around Z 180 g 4 9 4 a aa anir l KO l O i S 0 2 z 150 c 180 ac D O 540 360 180 0 180 360 540 Position of Axis A3 in ACS deg
230. ted multi axes motion coordinated multi axes motion The MC_SetKinTransform instruction was executed for an axes group that is enabled group is disabled None None Correct the program so that the instruction is executed when the axes Execute the instruction when the axes group is disabled Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Multi axes Coordinated Control Instruction Executed for Eveni code Disabled Axes Group Document No 70017 0302347E 186 203 543F0000 hex A multi axes coordinated control instruction was executed for an axes group that was in the Axes Group Disabled state Motion Control Function Module At instruction urce details i 28 execution Axes group Detection timing System Operation is not possible for relevant axes group Name Axes Group Minor Fault Occurrence Prevention Correct the program so that the instruction is executed only after changing the axes group to the Axes Group Enabled state Execute the A multi axes coordinated control instruction was executed for an axes group that was in the Axes Group Disabled state MC_GroupEnable Enable Axes Group instruction to change an axes group
231. ted turn OFF the Servo for all axes and mount the moving frame Document No 7001 7 0302347E 80 203 Instructions 7 1 Outline 7 1 1 Instruction List The following instructions can be used with NJ501 4 00 The robot instructions are classified as axes group instructions eee Motion Control Instruction SSS atego ai MC_SetKinTransform Set Kinematics Transform tC MC_DefineCoordSystem Define Coordinate System MC_GroupMon Monitor Axes Group Robot MC_MoveTimeAbsolute MoveTimeAbsolute Time apo tee Absolute Instruction ositioning a Document No 70017 0302347E 81 203 7 1 2 Unavailable Instructions The following table shows if axes group instructions can be executed or not when a kinematics is set to the axes group After Before Group Instruction Kinematics Kinematics setting setting MC GroupEnable MC_GroupDisable MC_GroupReset MC_GroupStop MC Groupstep MC_MoveCircular2D MC_ChangeAresinGrup X o MC_GroupSetOverride x lt MC_SetKinTransform MC_DefineCoodSystom o x Mo De netooiTransom O J x MC_GroupMon lt x MC_InverseKin MC_MoveTimeAbsolute MC_SyncLinearConveyor go MC_SyncOut hee MC_RobotJog O The instruction can be executed X An error occurs when the instruction is executed l Precautions for Correct Use When run the other instructions except MC GroupSetOverride an error occur and immediately stop the axis Refer to Robot supported NJ Series CPU Un
232. ted NJ Series CPU Unit User s Manual 70017 0302347 section L SRA RIA Y EtA the details of workspace check function When creating the command position the command velocity and command acceleration are also created that considered velocity of conveyor in every control period And it is checked whether or not the Velocity Error Detection Value MaxVelocity and Acceleration Error Detection Value MaxAcceleration are exceeded For enabling rotation of the wrist axis when using Delta3R kinematics the TrajTransition 2 and TrajTransition 3 must be set different than zero If both are set to zero the rotation is disabled If one is set to zero and another is not an error will occur e Offset Positions The function adds an offset to the robot position and orientation when it is synchronized with a conveyor Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Section 3 3 6 1 for details eBufferMode Buffer Mode Selection BufferMode specifies how to join the axis motions for this interpolation instruction and the previous interpolation instruction e There are the following six settings Buffer Mode Selection Description Aborting Aborts the instruction being executed and switches to this instruction If the direction of axis motion is reversed by switching instructions the motion will be reversed according to the Operation Selection at Reversing axis parameter Buffered Buffers this instruction and ex
233. terpolation instruction Transition disabled StartHeight and StartRemaining Time are supported for TransitionMode If BufferMode Buffer Mode Selection is set to Blending TransitionMode is enabled An error will occur if you do not set TransitionMode to _mcTMNone Transition Disabled when blending is not used For Start Height The ransitionParameter is set as the following Name Data type Valid range Description TransitionParameter 0 LREAL Negative number Height of the transition positive number or 0 TransitionParameter LREAL Reserved 1 7 For Start Remaining Time The TransitionParameter is set as the following Name Data type Valid range Description TransitionParameter 0 LREAL Negative number Duration of the transition positive number or 0 TransitionParameter LREAL Reserved 1 7 e Other Specifications This instruction can be used when all of the following conditions are satisfied The kinematics must have been set by the MC_SetKinTransform instruction For all axes registered in the axes group the home must have been defined For all axes registered in the axes group must be turned ON For all axes registered in the axes group limit inputs must be OFF The axes group must be enabled Document No 7001 7 0302347E 148 203 e Timing Charts Execute Done Busy Active Command Aborted Error A Am ErrorlD 16 0000 e Re execution of Motion Control Instruc
234. tion is stopped immediately regardless of T4 In Robot Ver 1 01 or later the operation will stop after synchronized moving in T4 e Other Specifications This instruction can be used when all of the following conditions are satisfied The kinematics must have been set by the MC_SetKinTransform instruction For all axes registered in the axes group the home must have been defined For all axes registered in the axes group must be turned ON For all axes registered in the axes group limit inputs must be OFF The axes group must be enabled lt When SyncStopType is Selected Synchronization Stop gt Trajectory Status must be Phase 6 Checked at instruction only at execution timing lt When SyncStopType is Selected Immediate Stop gt MC_SyncLinearConveyor instruction must be during execution Document No 7001 7 0302347E 120 203 e Timing Charts MC_SyncLinearConveyor Execute Busy Active InSync Command Aborted l Phase 16 0006 MC SyncOut Execute Done Busy Command Io Aborted o Error ErrorlD Document No 70017 0302347E 121 203 e Re execution of Motion Control Instructions This instruction cannot be re executed A Motion Control Instruction Re execution Disabled error error code 543B hex occurs if re execution is attempted and all axes that are being moved by this instruction stop e Multi execution of Motion Control Instructions
235. tion level events do not appear on the Controller Error Tab Page so it is possible that you may restart the CJ series Special Unit without intending to do so You can check the status of the CJB UnitErrSta 0 0 to CJB UnitErrSta 3 9 error status variables on a Watch Tab Page to see if an observation level Controller error has occurred Document No 7001 7 0302347E 18 203 Battery Backup The user program and initial values for the variables are stored in non volatile memory in the CPU Unit The present values of variables with the Retain attribute and the values of the Holding DM and EM Areas in the memory used for CJ series Units are backed up by a Battery If the Battery is not connected or the Battery is exhausted the CPU Unit detects a Battery backup Memory Check Error If that error is detected variables with a Retain attribute are set to their initial values and the Holding DM and EM Areas in memory used for CJ series Units are cleared to all zeros Perform thorough verifications and provide sufficient measures to ensure that the devices perform safe operation for the initial values of the variables with Retain attributes and the resulting operation Debugging Forced refreshing ignores the results of user program execution and refreshes I O with the specified values If forced refreshing is used for inputs for which I O refreshing is not supported the inputs will first take the specified values but they will then be overwr
236. tion to current position HZ Z axis in 4 is created When switching from the MC_SyncLinearConveyor operation to the MC_SyncOut operation a command position with continuous velocity is created The following values are set for Trajectory Target Time JrajTime Trajectory Transition Ratio TrajTransition and Trajectory Distance rajDistance TrajTime Name Data type Valid range Description i ai aiin or 0 TrajTime 1 7 UNT O Reserved TrajTransition Not used Name Data type Valid range Description TrajTransition 0 7 UNT Reserved TrajDistance Name Data type Valid range Description TrajDistance 0 LREAL Positive number Trajectory Distance Z axis direction in Machine or 0 coordinate system MCS H4 mm TrajDistance 1 7 LREAL O Reserved Document No 7001 7 0302347E 119 203 If the workspace check function is enabled perform the workspace check and when an error detected the axis Group is stopped Refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 section 3 2 2 the details of workspace check function When calculating a commanded position velocity and acceleration of the movement are calculated and checked against the command maximums If exceeding them the following errors will be raised Velocity Error Detection Value MaxVelocity and Acceleration Error Detection Value MaxAcceleration When SyncStopType is set to _mcSyncStop and H4 is set to 0 in Robot Ver 1 00 the opera
237. tions This instruction cannot be re executed A Motion Control Instruction Re execution Disabled error error code 543B hex occurs if re execution is attempted and all axes that are being moved by this instruction stop e Multi execution of Motion Control Instructions A restriction applies to the instructions that can be used while this instruction is in execution For details on multi execution of motion control instructions refer to Robot supported NJ Series CPU Unit User s Manual 70017 0302347 Multi execution of Motion Control Instructions of this document Document No 7001 7 0302347E 149 203 e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Error Code Execute Done e a Busy Active Command Aborted Se Error ErrorlD 1640000 X Error Code Document No 70017 0302347E 150 203 MC_SyncLinearConveyor lt Robot Ver 1 01 gt The MC_SyncLinearConveyor instruction starts creation of command values to catch up with a specified workpiece on a conveyor Instruction FB Graphic expression ST expression FUN FB MC_SyncLinearConveyor _instance MC_SyncLin Start earConveyor Conveyor MC_SyncLinearConveyor AxesGroup variable_name Synchroniz MC SynecLinearConveyor ConveyorAxis variable_name ation AxeaGroup Execute variable_name CoweyorAxis Con
238. to perform jogging The MC_RobotJog instruction described later is used for Robot Jog function Rotations Rx Ry Rz in Robot Jog Rotations are performed around the TCS of the selected robot tool The position of the selected TCP will be kept Below figure shows the direction of rotation Rz around active TCP TCP TCP 3 3 10 Robot maximum interpolation velocity and acceleration check Maximum interpolation velocity acceleration and deceleration of the robot TCP are checked as a background process in order to protect the robot Maximum interpolation velocity acceleration and deceleration of the active TCP are checked in order to protect the product Robot TCP is selected Active TCP is selected Max Velocity Max Acc Dec Max Velocity Max Acc Dec Robot Active Robot Active Robot Active Robot Active TCP TCP TCP TCP TCP TCP TCP TCP Pre check in command command command Eve ry motion background background background background background background cycle command command command command e background the check is done as a background process e command the check is done in the command Document No 70017 0302347E 63 203 l Precautions for Correct Use 3 3 10 1 Maximum interpolation velocity acceleration checks can be disabled by setting its maximum values to 0 This has been changed from in Robot Ver 1 01 Background maximum interpolation velocity acceleration and deceleration check The value of m
239. tool coordinate systems can be set for each robot With default tool coordinate system up to 17 tool coordinate systems can be selected Document No 70017 0302347E 46 203 3 3 Special Robot Functions It is required to set the kinematics type and transform parameters for the axes group to operate a robot The MC_SetKinTransform instruction described later is used for the axes group settings 3 3 1 Kinematics Setting Delta3 Delta3R and Delta2 are available 3 3 1 1 Kinematics Setting for Delta3 Delta3R For Delta3 the following parameters are set Rf stance radius from the center of the fixed frame to the motor of the axis mm Rm Distance radius from the center of the moving frame to the connection point of Link 2 mm Lf Length of Link 1 mm Lm Length of Link 2 mm 0 Rotation around Z axis on the X Y plane of the machine coordinate system for axis adjustment deg Rf a y A2 8 WA The kinematics parameters of Delta3R are same as it of Delta3 1 1 0 1 1 1 rid 1 P 1 gt 7 1 1 0 m 1 1 amp 1 1 1 t 1 1 r 1 v7 1 1 1 1 1 1 0 1 1 N 1 1 D i 1 1 1 1 1 In case of the Delta3 kinematics type if it exists the wrist is controlled as single axis by the user In case of the Delta 3R kinematics type the wrist is controlled by robot instructions as part o
240. trajectory transition Set a correct trajectory transition Attached information Precautions Remarks None None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Data type _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence The trajectory distance is out of the Correct the trajectory distance setting range Data type _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Document No 7001 7 0302347E 193 203 57170000 hex The trajectory distance specified for the TrajData input variable to a motion control instruction is out of the setting range At instruction execution Trajectory Distance Setting Out of Range Motion Control Function Module Source details Axes group Detection timing Minor fault Log category System Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion Name User program Continues Operation Correction Prevention Assumed cause Set a correct trajectory distance None None Initial Workpi
241. truction The offset functionality cannot be enabled because MC_SyncLinearConveyor is not in Phase 6 On Multi execution Trajectory type of buffered instruction is changed Specified Transition Mode is not supported by the combination of the instructions The InitialWorkpiecePosition value specified is out of range The Maximum Interpolation Velocity value specified is out of range The Maximum Interpolation Acceleration value specified is out of range The Maximum Interpolation Deceleration value specified is out of range The commanded velocity of the default TCP overpasses the maximum robot velocity set in MC_SetKinTransform Illegal Jog Mode JogMode input is out of range or is e Specified an invalid JogMode input argument wrong type value The commanded acceleration of the default TCP overpasses the maximum robot acceleration set in MC_SetKinTransform The commanded deceleration of the default TCP overpasses the maximum robot deceleration set in MC_SetKinTransform Started the Transition by correcting TransitionParameters e Specified wrong value of Maximum Velocity of the robot e Specified wrong value of InitWorkpiecePosition input e Specified wrong value of Maximum Acceleration of the robot Document No 7001 7 0302347E 182 203 Assumed cause e Specified wrong value of ToollD input e Specified Tool Coordinate System ID has not been defined in MC_DefineToolTransform e Specified
242. tting range Source details Detection timing ANON execution Motion Control Function Module Minor fault Log category System Operation is not possible for relevant axes group Relevant axes group stops immediately if it is in motion Name User program Continues Operation Assumed cause S Assumed cause S Correction o Prevention The acceleration error detection value is correction a the acceleration error Set a correct acceleration error detection out of the setting range detection value value None None Document No 7001 7 0302347E 192 203 Meaning The trajectory target time specified for the TrajData input variable to a motion control instruction is out of the setting range At instruction Source Motion Control Function Module Source details Detection timing Secun Error attributes Minor fault Log category System Operation is not possible for relevant axes group Peel REN Relevant axes group stops immediately if it is in motion System defined Data type Name variables _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Assumed cause Csi lt cause Assumed cause Correction _ lt isS lt C dr Correction Prevention Cause and The trajectory target time is out of the correction J ry targ Correct the trajectory target time Set a correct trajectory target time setting range Attached 5 None information Precautions None Remarks Event name Trajectory Type S
243. ty variable_name Acceleration variable_name Deceleration variable_name JogMode variable_name CSID variable_name ToollD variable_name AxesGroup gt variable_name Busy gt variable_name CommandAborted gt variable_name Error gt variable_name ErrorlD gt variable_name Description the axis starts moving in the negative direction of X axis When it changes to FALSE the axis stops moving FALSE When this variable changes to TRUE the axis starts moving in the positive direction of Y axis When it changes to FALSE the axis stops moving FALSE When this variable changes to TRUE the axis starts moving in the negative direction of Y axis When it changes to FALSE the axis stops moving FALSE When this variable changes to TRUE the axis starts moving in the positive direction of Z axis When it changes to FALSE the axis stops moving FALSE When this variable changes to TRUE the axis starts moving in the negative direction of Z axis When it changes to FALSE the axis stops moving FALSE When this variable changes to TRUE the axis starts moving in the positive direction of rotation around X axis When it changes to FALSE the axis stops moving FALSE When this variable changes to TRUE the axis starts moving in the negative direction of rotation around X axis When it changes to FALSE the axis stops moving PositiveEnable RY Positive Direction BOOL TRUE FALSE FALSE W
244. ty of a robot Instruction FB Graphic expression _ ST expression MC_GroupM Monitor MC_GroupMon on Axes Group MC_GroupMon_instance AxesGroup variable_name me a Enable variable_name MC_GroupMon CoordSystem variable_name Isso Aes Group CSID variable _name Enable Walid AxesGroup gt variable_name CoordS eben Busy valle variable_name i i Busy gt variable _name SID Error Error gt variable_name EnorlD ErrorlD gt variable_name Position Position gt variable_name l Velocity gt variable_name Velocity m Variables Input Variables Name Meaning Data type Valid range Default Description Enable Enable BOOL TRUE or FALSE FALSE Reading the current values is started when Enable changes to TRUE CoordSystem Coordinate _eMC_RBT_ COORD mcRBT_MCS Specify the coordinate system System _SYSTEM _mcRBT_UCS 1 Machine coordinate system MCS 3 User coordinate system UCS CSID Coordinate UINT Oto 15 Specify the ID of coordinate system System ID when a user coordinate system is specified e Output Variables Name Meaning Data type Valid range Description Valid Enabled BOOL TRUE or FALSE When this value is TRUE the following current values Position and Velocity are valid The current position is updated every period Busy el a BOOL TRUE or TRUE ae TRUE when the instruction is acknowledged Error BOOL TRUE or Miana TRUE while there is an error ErrorlD Error Code WORD Contains the error
245. ument No 70017 0302347E 16 203 Operation is not possible if a CJ series Power Supply Unit is used with an NJ series CPU Unit or an NJ series Power Supply Unit is used with a CJ series CPU Unit Do not apply voltages or connect loads to the Output Units or slaves in excess of the maximum ratings Surge current occurs when the power supply is turned ON When selecting fuses or breakers for external circuits consider the above precaution and allow sufficient margin in shut off performance Refer to the relevant manuals for surge current specifications Refer to the NJ series CPU Unit Hardware User s Manual Cat No W500 for surge current specifications If the full dielectric strength voltage is applied or turned OFF using the switch on the tester the generated impulse voltage may damage the Power Supply Unit Use the adjustment on the tester to gradually increase and decrease the voltage Apply the voltage between the Power Supply Unit s L1 or L2 terminal and the GR terminal when testing insulation and dielectric strength Do not supply AC power from an inverter or other device with a square wave output Internal temperature rise may result in smoking or burning Always input a sinusoidal wave with the frequency that is given in the NJ series CPU Unit Hardware User s Manual Cat No W500 Install external breakers and take other safety measures against short circuiting in external wiring Turning ON the Power Supply It
246. unications system and user program to ensure safety in tha overall system avan i amors or malfunctions occur in data link communications or remote VO communscations lf there is intartarance in remote VO conwmunecatons or da major Auli laval error g tur Ouipud status will depend on the products that are used Confirm lhe operahon that will occur when lhere is inketerence in conirrun cations oF a major fault level error and implement salety measures Correct se all of the EtherCAT slaves The NJ series Controller continues normal operation for a cartain period of ime when a momentary power interruption occurs This maans that the MJ banes Conirolke may recenve incorrect signals from extemal dewices that are also alfected by he power interruption Acoordingly ake suilable actions such ag external fail sale measures and interlock conditions to monitor the power supply voltage of the extennal device as required You must take fail safe measures to ensure safety in the evant of incorrect missing or abnormal signals caused by broken signal lines momentary power Interruptions or other causes Not doing so may result m senous acc dents due to inconnect operation Voltage and Current Inputs Make sure that the voltages and currents that are input to the Units and slaves are within the apecihed ranges inputting voltages or cumrants that are outside of the specitied ranges may cause accidents or fire Downloading
247. use S Correction o zz The kinematics type is out of setting Correct the kinematics type eect se the i i range KinTransform input variable KinTransform input variable None None Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks An expansion parameter is out of the KinTransform input variable setting range Document No 7001 7 0302347E 189 203 Kinematics Parameter Setting Out of Range 57080000 hex The kinematics parameter specified for the KinTransform input variable to a motion control instruction is out of the setting range Detection timing At instruction execution Motion Control Function Module Source details Axes group Minor fault Log category System Operation is not possible for relevant axes group Variable Data type Name Datatype S _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention A kinematics parameter is out of the setting range Correct the kinematics parameter or Set a correct kinematics parameter or expansion parameter for the KinTransform input
248. variable the expansion parameter for the None None Workspace Type Selection Out of Range 57090000 hex The workspace type specified for the Workspace input variable to a motion control instruction is out of the setting range At instruction Source details execution Motion Control Function Module Axes group Detection timing System Operation is not possible for relevant axes group Name Axes Group Minor Fault Occurrence Prevention The workspace type is out of the setting Correct the workspace type for the Set a correct workspace type for the range Workspace input variable Workspace input variable None None Workspace Parameter Setting Out of Range 570A0000 hex The workspace parameter specified for the Workspace input variable to a motion control instruction is out of the setting range At instruction Source details execution Motion Control Function Module Axes group Detection timing Minor fault Log category System Operation is not possible for relevant axes group Variable Data type Name Datatype S _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Assumed cause isS Assumed cause isS Correction s i i i is sr Prevention The workspace parameter is out of the Sea ee a Ane the workspace parameter for Set a correct workspace parameter for setting range the Workspace input variable the Workspace input variable None None Eve
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250. veyors InitWorkpiecePosition variable_name l Direction variable_name elidel nent TrajData variable_name InitWVorkpeece Position Busy EnableOffset variable_name Direction Active PositionOffset variable_name TrajData Correnewdaberted CoordSystem variable_name CSID variable_name EnableOffset aa ToollD variable name PositionOffset Eroni BufferMode CoordSyatem TrajStatus variable_name cap TransitionMode ToallD variable_ name AxesGroup Baumerviode gt variable_name TransitionMode ConveyorAxis variable_name InSync gt variable_name Busy gt variable_name Active gt variable_name CommandAborted gt variable_ name Error gt variable_name ErrorlD gt variable_name TrajStatus gt variable_name TrangitionP arameter m Variables e Input Variables Name ___Meaning Datatype Vailidrange Default_ Description Execute Execute BOOL TRUE or FALSE FALSE The instruction is executed when Execute changes to TRUE InitWorkpiecePositi Initial Workpiece ARRAY 0 5 Negative number Specify the workpiece position on Position OF LREAL positive number or target position at the time when 0 the synchronization with conveyor is started The unit is mm for InitWorkpiecePosition 0 2 and deg for InitWorkpiecePosition 3 5 Specify the direction of rotation of the rotation axis 0 Positive direction 2 Negative direction 4 mcNoDirection 4 No direction Specify the parameters fo
251. xAcceleration in order to avoid unexpected velocity and acceleration deceleration A velocity error or an acceleration error are not detected before starting this instruction when ToollD is set other than 0 e Specifying the Target Position The target position Position is the position on a machine coordinate system MCS or user coordinate system UCS For Delta3 and Delta2 the target position is set as shown below Position Name Position 0 Position 1 Position 2 Position 3 Position 4 Position 5 Data type Valid range Description LREAL Negative number Target position of X axis mm positive number or 0 LREAL Negative number Target position of Y axis mm positive number or 0 LREAL Negative number Target position of Z axis mm positive number or 0 LREAL Negative number Target position of robot rotation around X axis positive number or deg 0 LREAL Negative number Target position of robot rotation around Y axis positive number or deg 0 LREAL Negative number Target position of robot rotation around Z axis positive number or deg 0 Document No 7001 7 0302347E 146 203 Position array details depending on kinematics type KinT ype Name KinType Position o wu wul s Delta 3 Robot 100 xX X X Delta 3 Robot with Rotation O Used X Not Used When using an user coordinate system UCS specify its ID number in the Coordinate System ID CS D If the
252. xes in the axes group as the number of axes necessary for the kinematics The count mode of an axis registered in Change the count mode of all axes registered in the axes group to necessary count mode for the Set the count mode of all axes registered in the axes group to necessary count mode for the kinematics the axes group is different from the count mode for the specified robot kinematics type specified robot kinematics type The display unit of an axis registered in the axes group is different from the display unit for the specified robot kinematics type Change the display unit of all axes registered in the axes group to necessary display unit for the specified robot kinematics type Set the display unit of all axes registered in the axes group to necessary display unit for the kinematics None None The kinematics type specified for the KinTransform input variable to a motion control instruction is out of the setting range At instruction execution Kinematics Type Selection Out of Range Motion Control Function Module Source details Axes group Detection timing Minor fault Log category System Operation is not possible for relevant axes group ee peace Sige ree Relevant axes group stops immediately if it is in motion Data type Name Datatype S _MC_GRPJ MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention Set a correct kinematics type for the Assumed cause S Assumed ca
253. xis home in or 0 machine coordinate system MCS Tz mm LREAL 180 to 180 Rotation around the X axis of user coordinate LREAL system UCS Rx deg ae 90 to 90 Rotation around the Y axis of user coordinate system UCS Ry deg LREAL 180 to 180 Rotation around the Z axis of user coordinate system UCS Az deg The setting value will be retained even after switching to program mode of the CPU unit This instruction can be used when the following condition is satisfied The kinematics must have been set by the MC_SetKinTransform instruction i Precautions for Correct Use Each UCS is defined against a valid MCS It means that each UCS of one robot must be defined again by executing MC_DefineCoordSystem for each UCS if the MC_SetKinTransform was executed again on that robot Document No 70017 0302347E 93 203 e Timing Charts Execute Done Busy EE Command Error o CoordTransform 4 Document No 70017 0302347E 94 203 e Errors If an error occurs during instruction execution Error will change to TRUE You can find out the cause of the error by referring to the value output by Error D Execute Done naaa Busy Command Aborted _ _ Error ErrorlD 1640000 Error Code MC_GroupMon lt Robot Ver 1 00 gt Document No 70017 0302347E 95 203 The MC_GroupMon instruction reads the current position and current veloci
254. ystem Not affected Name Axes Group Minor Fault Occurrence Assumed cause Correction Prevention Specified a Tool Coordinate System Correct the parameters of the Set a correct parameters for the Transformation Pose of wrong values ToolTransform input variable ToolTransform input variable None None Not supported Transition Mode Data 57340000Hex The selected TransitionMode is not supported with the selected data of current or buffered instruction Motion Control Function Module Minor fault Log category System Uee oaran Connes Onaran Operation is not possible for relevant axes group prog p Relevant axes group stops immediately if it is in motion Data type Name _MC_GRP MFaultLvl Active BOOL Axes Group Minor Fault Occurrence Prevention Correct the TransitionParameter so that the transition can be implemented TransitionMode is not possible to implement with the selected parameters Transition Parameters TransitionMode is not possible to implement for the selected parameters Set a correct TransitionParameter so that the transition can be implemented Correct the Trajectory Data of the buffered command so that the transition can be implemented Set a correct Trajectory Data of the buffered command so that the transition can be implemented Trajectory Data of the buffered Instruction None None Event name Meaning Source Error attributes Effects System defined variables Cause and c

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