3 Implementation Example of Static Pick-and-place Equipment //ArmConfig; Arm.LeftyRighty :=_eRC_LEFTY_RIGHTY#_rcRighty; Arm.AboveBelow :=_eRC_ABOVE_BELOW#_rcAbove; Arm.Flip :=_eRC_FLIP#_rcFlip; //Reserved := [4(16#0)]); //MotionParams(Direct); MPD.VelocityProfile :=_eRC_VELOCITY_PROFILE#_rcTrapezoidal; MPD.VelocityRatio :=100; MPD.AccelerationRatio :=50; MPD.DecelerationRatio :=50; MPD.NullingTolerance :=_eRC_NULLING_TOLERANCE#_rcFineTolerance; MPD.SingleTurn :=_eRC_SINGLE_TURN#_rcMultipleTurn; //Reserved :
[8(16#0)]); //MotionParams(Linear); MPL.VelocityProfile :=_eRC_VELOCITY_PROFILE#_rcTrapezoidal; MPL.VelocityMode :=_eRC_VELOCITY_MODE#_rcRatio; MPL.VelocityRatio :=100; MPL.RotationVelocityRatio :=100; MPL.Velocity :=0; MPL.AccelerationRatio :=50; MPL.DecelerationRatio :=50; MPL.NullingTolerance :=_eRC_NULLING_TOLERANCE#_rcFineTolerance; MPL.SingleTurn :=_eRC_SINGLE_TURN#_rcMultipleTurn; //Reserved : [4(16#0)]); //BufferMode; BM_Bu :=_rcBuffered; BM_Bl :=_rcBlending; //PositionMode; PM :=_rcAbsolute; //APPROACH and DEPART Height [mm]; UpDownDist :=40; 3-6 NJ-series Robot Integrated System Startup Guide (O049)