66
04
| Getting Started and Connecting Peripherals
Caution
Every movement specified in the joint space is feasible in the whole workspace.
On the other hand, some movement in the workspace is not possible in some
portion of the task space due to singularities. Neuromeka robot stops its
operation by the safety function when approaching a singularity or a singularity
region in the task space. Refer to
Section 3.1 Robot Arm
for a description of
the singularity and singularity regions.
Tool Center Point (TCP)
The tool center point is an important entity that defines the position of the robot in the
task space and it is the point of interaction between the tool attached to the endtool
flange of the robot and the workpiece as follows.
The default tool center point is located at the center point of the endtool flange surface.
As a matter of fact, this tool center point is the origin of the default tool coordinate
system. The default tool coordinate system has the Z axis perpendicular to the flange
surface and the Y axis as the direction to the endtool connector. This coordinate system
is also simply called the tool frame. A custom tool frame can be defined by the distance
of the origin and the rotation of each axis with respect to the default tool frame. Note
that a new tool coordinate system is necessary with a new tool.
The following are the tool center points for various tools. Refer to
Section 4.3
Connecting Tools and Peripheral Devices
for details on setting tool center points.
Summary of Contents for INDY7
Page 1: ...Version 2 3 0 2019 08 16...
Page 2: ......
Page 3: ......
Page 5: ...5...
Page 8: ......
Page 12: ......
Page 15: ......
Page 128: ...128 05 Programming Now your jointMove setup is complete...
Page 144: ...144 05 Programming Now the setting for the blending of frameMove is completed...
Page 152: ...152 05 Programming Now your home movement setup is complete...
Page 162: ...162 05 Programming stop It stops program execution No setup is required...
Page 257: ...257 The commands that can be executed by the digital input signals are listed as follows...
Page 279: ...279 If you run Conty again the language is changed and shown as follows...
Page 321: ...321 09 Certification 9 Certification 9 1 Machinery Directive...
Page 322: ...322 09 Certification 9 2 Electromagnetic Compatibility Directive...