Omron NJ501-4300, Manual

Page: 137 / 336

4 - 33
4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_Mo
veT
im
eAbso
lut
e
4
F
unct
ion
• For Position (Target Position), positions in the machine coordinate system (MCS) or positions in the
user coordinate system (UCS) must be specified.
• If you select the user coordinate system (UCS), set the user coordinate system number in CSID
(Coordinate System ID).
• The workspace check is performed if it is enabled. In case of an error, the axes group operation
stops.
For details on the workspace check, refer to
2-3-2 Workspace Check on page 2-23.
 Position (Target Position)
The target position you can set in Position (Target Position) varies depending on KinType (Kinemat-
ics Type Selection) as shown below.
Table above is based on machine coordinate system (MCS). When a user coordinate system is
used, the specified
Position (Target Position) is transformed into a position in the machine coordi-
nate system. After the transformation, invalid values that are determined based on this table are
ignored.
Setting the Target Position
Name Data type Valid range Description
Position [0] LREAL Positive number, nega-
tive number or 0 The target position on X axis [mm]
Position [1] LREAL Positive number, nega-
tive number or 0 The target position on Y axis [mm]
Position [2] LREAL Positive number, nega-
tive number or 0 The target position on Z axis [mm]
Position [3] LREAL − 180.0 to 180.0 The target rotational position around
X axis: Rx [degree]
Position [4] LREAL
−
180.0 to 180.0 The target rotation position around Y
axis: Ry [degree]
Position [5] LREAL − 180.0 to 180.0 The target rotational position around
Z axis: Rz [degree]
Position Kinematics type
Name Description Delta3 Delta3R Delta2
Position [0] The target position on X axis [mm] Valid Valid Valid
Position [1] The target position on Y axis [mm] Valid Valid Invalid
Position [2] The target position on Z axis [mm] Valid Valid Valid
Position [3] The target rotational position around
X axis: Rx [degree]
Invalid Invalid Invalid
Position [4] The target rotation position around Y
axis: Ry [degree]
Invalid Invalid Invalid
Position [5] The target rotational position around
Z axis: Rz [degree]
Invalid Valid Invalid
Position Kinematics type
Name
Cartesian 3D
Cartesian 3D-Gantry
Cartesian 2D
Cartesian 2D-Gantry
H-Bot Plane XY Plane XZ Plane YZ
Position [0] Valid Valid Valid Invalid Valid
Position [1] Valid Valid Invalid Valid Valid
Position [2] Valid Invalid Valid Valid Invalid
Position [3] Invalid Invalid Invalid
Position [4] Invalid Invalid Invalid
Position [5] Invalid Invalid Invalid