Omron NX701-1 User Manual

9 Motion Control Functions
9-82
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
In the case that coordinate systems (such as SCARA robot and vertical articulated robot) other than
orthogonal coordinate system are implemented by user programs, this function can be used to display
the path of robot hands, etc. in 3D with Sysmac Studio.
You can create an _sMC_POSITION_REF type user-defined variable and display in 3D Motion Monitor
Display Mode.
A CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher are required to use
this function.
 _sMC_POSITION_REF
The followings are the members of _sMC_POSITION_REF type data.
The following list describes each member.
9-8-12 Displaying 3D Motion Monitor for User Coordinate System
Member Data type Meaning
CommandPosition ARRAY [0..5] OF LREAL Command Current Position
ActualPosition ARRAY [0..5] OF LREAL Actual Current Position
Member Description
User-defined variable.CommandPosition[0] This is an X-axis component for the command current position.
This member is assigned a user-defined variable that indi-
cates the X-axis position of the command current position gen-
erated by a user program.
User-defined variable.CommandPosition[1] This is a Y-axis component for the command current position.
This member is assigned a user-defined variable that indi-
cates the Y-axis position of the command current position gen-
erated by a user program.
User-defined variable.CommandPosition[2] This is a Z-axis component for the command current position.
This member is assigned a user-defined variable that indi-
cates the Z-axis position of the command current position gen-
erated by a user program.
User-defined variable.CommandPosition[3] to
[5]
Not used.
User-defined variable.ActualPosition[0] This is an X-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the X-axis position of the actual current position handled
in a user program.
User-defined variable.ActualPosition[1] This is a Y-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the Y-axis position of the actual current position handled
in a user program.
User-defined variable.ActualPosition[2] This is a Z-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the Z-axis position of the actual current position handled
in a user program.
User-defined variable.ActualPosition[3] to [5] Not used.

Omron NX701-1 Specifications

General

Brand	Omron
Model	NX701-1
Category	Controller
Language	English