![background image](http://html1.mh-extra.com/html/omron/nj501-4300/nj501-4300_manual_742408138.webp)
4 Robot Instructions
4 - 34
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
• Direction input specifies the direction followed by the rotational axes when positioning the robot to the
target position.
• Direction input is only applicable to the kinematics that provides orientation (Rx, Ry, Rz).
• Direction is referred to the rotational axes, so in case there is only one rotational axis for the robot,
the first element of the array will be used (Delta-3R). In case two rotational axes existed for a kine-
matics, the first two elements of the array would be used. Maximum number is 4, maximum axes of
an Axes Group.
• If other kinematics different than Delta-3R is set, Direction input is not used.
For Delta-3R meaning of Direction input is below:
• Use
TrajData
(Trajectory Data) to set the parameters for creating the trajectory toward the target posi-
tion.
TrajData
(Trajectory Data) consists of the following variables:
MoveTrajType
(Motion Trajectory Type
Selection),
TrajTime
(Trajectory Target Time),
MaxVelocity
(Velocity Error Detection Value), and
Max-
Acceleration
(Acceleration Error Detection Value).
• Select the polynomic 3 curve or modified sine curve (recommended) for
MoveTrajType
(Motion Tra-
jectory Type Selection).
• The workspace check is performed if it is enabled. If the created command position is outside the
workspace, an error occurs and the axis stops.
• When this instruction is executed, the maximum values of the command velocity and command
acceleration rate are created. The instruction checks whether or not these values exceed
MaxVeloc-
ity
(Velocity Error Detection Value) or
MaxAcceleration
(Acceleration Error Detection Value).
When a command position is created, a command velocity and command acceleration rate are cre-
ated at same time. These values are also checked in the same way.
If a specified limit is exceeded, an error occurs and the axis stops.
• If
MaxVelocity
(Velocity Error Detection Value) or
MaxAcceleration
(Acceleration Error Detection
Value) is set to 0, check is not performed for the variable which is set to 0.
Setting Direction
Name
Data type
Valid range
Description
Direction [0]
_eMC_DIRECTION
0: _mcPositiveDirection
2: _mcNegativeDirection
4: _mcNoDirection
Direction of rotation of the rota-
tional axis for Delta-3R (A3 of
Delta-3R)
Direction [1]
_eMC_DIRECTION
Full range
Reserved
Direction [2]
_eMC_DIRECTION
Full range
Reserved
Direction [3]
_eMC_DIRECTION
Full range
Reserved
Setting Trajectory
Current
position
Target
position
Current
position
Target
position
Current
position
Target
position
Target time
Target time
Target time
X axis
Y axis
Z axis
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: ......