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4 Robot Instructions
4 - 10
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Precautions for Correct Use
If you perform positioning with the MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchro-
nous Absolute Positioning) instruction, the workspace check is not performed. Also, checks for
the following variables that are set with the MC_SetKinTransform (Set Kinematics Transforma-
tion) instruction are not performed:
MaxVelocityTCP
(Maximum Interpolation Velocity),
MaxAc-
celerationTCP
(Maximum Interpolation Acceleration) and
MaxDecelerationTCP
(Maximum
Interpolation Deceleration).
Consider that velocity and acceleration checks and workspace check are not performed when
using MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchronous Absolute Positioning)
instruction. Therefore, make sure you take sufficient safety measures.
The following are the member variables of a _sMC_KIN_REF data type variable.
on page 2-15 as well.
KinType
Select the kinematics type.
KinParam
Set the robot parameters depending on robot type.
Details on _sMC_KIN_REF
Name
Data type
Valid range
Description
Kinematics Type
Selection
_eMC_KIN_TYPE 100: _mcDelta3Type1
101: _mcDelta3Type2
102: _mcDelta2Type1
104: _mcCartesian3DType1
*1
105: _mcCartesian3DType2
*1
106: _mcCartesian2DType1
*1
107: _mcCartesian2DType2
*1
108: _mcHBotType1
*1
*1. Those kinematics types are applicable only in Robot Version 1.03 or later.
Select the kinematics type.
100: Delta3
101: Delta3R
102: Delta2
104: Cartesian 3D Robot
105: Cartesian 3D Gantry Robot
106: Cartesian 2D Robot
107: Cartesian 2D Gantry Robot
108: H-Bot Robot
Name
Data type
Delta3, Delta3R and Delta2
Valid range
Description
KinParam[0]
LREAL
Positive number
The radius of the fixed frame: Rf [mm]
KinParam[1]
LREAL
Positive number
Link 1: Lf [mm]
KinParam[2]
LREAL
Positive number
The radius of the moving frame: Rm [mm]
KinParam[3]
LREAL
Positive number
Link 2: Lm [mm]
KinParam[4] to [7]
(Reserved)
LREAL
0
(Reserved)
Summary of Contents for NJ501-4300
Page 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
Page 335: ......