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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
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To make the robot track the workpiece specified in
InitWrokpiecePosition
(Initial Workpiece Position),
you must align X axis in the coordinate system specified in
CoordSystem
(Coordinate System) with the
conveyor axis direction.
In this example, the machine coordinate system (MCS) and user coordinate system (UCS) are speci-
fied.
Specifying Machine Coordinate System (MCS)
Align Xm and the conveyor axis in the same direction as shown in the following figure.
Xm, Ym and Zm represent the machine coordinate system (MCS).
Specifying User Coordinate System (UCS)
Align Xu and the conveyor axis in the same direction as shown in the following figure.
Xm, Ym and Zm represent the machine coordinate system (MCS), and Xu, Yu and Zu represent the
user coordinate system (UCS).
Setting Coordinate System and Conveyor Axis
Zm
Xm
Ym
A1
A2
A0
Conveyor axis
Xu
Yu
Zu
Zm
Xm
Ym
A1
A2
A0
Conveyor 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: ......