Omron NJ501-4300, Manual

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3 Setting Robot Functions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
3-4
T
arg
et Posit
ion
and
Directi
on Set
tin
g Met
hod
3
3-
4-2 R
ot
ational A
xis C
ontrol
 _mcNoDirection
Direction of rotation axis is not set. Robot will move the rotation axis so that it achieves the target
position keeping the rotation around Z (Rz) position in the same turn of its kinematics range (ring).
The robot operates in the ring which is the same as that the current position belongs.
Therefore, the robot may take a longer way.
The following is an example of settings which causes a longer way operation.
Item Set value
Current position 150.0
Target position − 150.0
Rotation direction _mcNoDirection
Negative Direction Positive Direction
−
540
−
360
−
180 0 180 360 540
−
180
180
0
Position in Machine Coordinate System (MCS) [degree]
Current position
Position in Axis Coordinate System (ACS) [degree]
−
540
−
360
−
180 0 180 360 540
−
180
−
150
180
150
0
Position in Machine Coordinate System (MCS) [degree]
Position in Axis Coordinate System (ACS) [degree]
Current position
Target position