Omron NJ501-4300, Manual

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_SetK
inT
ran
sform
4
F
unct
ion
 WorkspaceParam
Set the range of the workspace.
The setting values depending on Workspace Type Selection as shown below.
Name Data type
Delta3 or Delta3R
Valid range Description
WorkspaceParam[0] LREAL Negative number The cylinder top face position: Zu [mm]
WorkspaceParam[1] LREAL Positive number The radius of cylinder: Rcy [mm]
WorkspaceParam[2] LREAL Positive number The height of cylinder: Hcy [mm]
WorkspaceParam[3] LREAL Non-negative
number The radius of truncated cone: Rco [mm]
WorkspaceParam[4] LREAL Non-negative
number The height of truncated cone: Hco [mm]
WorkspaceParam[5] to
[7] (Reserved) LREAL 0 (Reserved)
Name Data type
Delta2
Valid range Description
WorkspaceParam[0] LREAL Negative number Type trapezoid top face position: Zu [mm]
WorkspaceParam[1] LREAL Positive number Half the length of the trapezoid top face: Rtop [mm]
WorkspaceParam[2] LREAL Non-negative
number Half the length of the trapezoid bottom face: Rbottom
[mm]
WorkspaceParam[3] LREAL Positive number The hight of trapezoid: H [mm]
WorkspaceParam[4] to
[7] (Reserved) LREAL 0 (Reserved)
Name Data type
Cartesian3D
Valid range Description
WorkspaceParam[0] LREAL Full Range Origin of the workspace: X coordinate: X0 [mm]
WorkspaceParam[1] LREAL Full Range Origin of the workspace: Y coordinate: Y0 [mm]
WorkspaceParam[2] LREAL Full Range Origin of the workspace: Z coordinate: Z0 [mm]
WorkspaceParam[3] LREAL Positive number Workspace dimension on the X direction: DX [mm]
WorkspaceParam[4] LREAL Positive number Workspace dimension on the Y direction: DY [mm]
WorkspaceParam[5] LREAL Positive number Workspace dimension on the Z direction: DZ [mm]
WorkspaceParam[6] to
[7] (Reserved) LREAL 0 (Reserved)
Name Data type
Cartesian2D
Valid range Description
WorkspaceParam[0] LREAL Full Range Origin of the workspace: the first coordinate:
Org1 [mm]
WorkspaceParam[1] LREAL Full Range Origin of the workspace: the second coordinate:
Org2 [mm]
WorkspaceParam[2] LREAL Positive number Workspace dimension on the first coordinate direc-
tion: d1 [mm]
WorkspaceParam[3] LREAL Positive number Workspace dimension on the second coordinate
direction: d2 [mm]
WorkspaceParam[4] LREAL [0, 1, 2] Index to defined planes:
0: plane XY – the first coordinate is X and the second
is Y
1: plane XZ – the first coordinate is X and the second
is Z
2: plane YZ – the first coordinate is Y and the second
is Z