Omron NJ501-4300, Manual

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
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Table above is based on machine coordinate system (MCS). When a user coordinate system is
used, the specified
InitWorkpiecePosition (Initial Workpiece Position) is transformed into a position
in the machine coordinate system. After the transformation, invalid values that are determined
based on this table are ignored.
• 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 along which the robot
tracks the workpiece.
This section describes the relationship between the trajectory and the setting values for a polynomic 3
curve.
The following symbols are used in this description.
Position Kinematics type
Name
Cartesian 3D
Cartesian 3D-Gantry
Cartesian 2D
Cartesian 2D-Gantry
H-Bot
Plane
XY
Plane
XZ
Plane
YZ
InitWorkpiecePosition [0] Valid Valid Valid Invalid Valid
InitWorkpiecePosition [1] Valid Valid Invalid Valid Valid
InitWorkpiecePosition [2] Valid Invalid Valid Valid Invalid
InitWorkpiecePosition [3] Invalid Invalid Invalid
InitWorkpiecePosition [4] Invalid Invalid Invalid
InitWorkpiecePosition [5] Invalid Invalid Invalid
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