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4 Robot Instructions
4 - 70
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
The following are the details on
Position
(Target Position) which you set and
AxesPosition
(Axes Target
Position) which is the result of transformation.
Position
Set the target position in the machine coordinate system (MCS).
The target position you can set in
Position
(Target Position) varies depending on
KinType
(Kinemat-
ics Type Selection) as shown below.
Details on Position and AxesPosition
Name
Data type
Valid range
Description
Position [0]
LREAL
Positive number, neg-
ative number or 0
The target position on X axis in the machine
coordinate system [mm]
Position [1]
LREAL
Positive number, neg-
ative number or 0
The target position on Y axis in the machine
coordinate system [mm]
Position [2]
LREAL
Positive number, neg-
ative number or 0
The target position on Z axis in the machine
coordinate system [mm]
Position [3]
LREAL
Greater than
−
180.0,
less than or equal to
180.0
The target rotational position around X axis in
the machine coordinate system [degree]
Position [4]
LREAL
Greater than
−
180.0,
less than or equal to
180.0
The target rotational position around Y axis in
the machine coordinate system [degree]
Position [5]
LREAL
Greater than
−
180.0,
less than or equal to
180.0
The target rotational position around Z axis in
the machine coordinate system [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 [degree]
Invalid
Invalid
Invalid
Position [4]
The target rotational position around
Y axis [degree]
Invalid
Invalid
Invalid
Position [5]
The target rotational position around
Z axis [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
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: ......