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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC_In
verseKin
4
F
unct
ion
AxesPosition
This variable contains axes target positions that are transformed from a target position in the
machine coordinate system (MCS).
AxesPosition
(Axes Target Position) varies depending on
KinType
(Kinematics Type Selection) as
shown below.
Name
Data type
Valid range
Description
AxesPosition [0]
LREAL
Positive number, neg-
ative number or 0
The target position in the axis coordinate sys-
tem for A0 axis ([degree] or [mm], depending
on
KinType
)
AxesPosition [1]
LREAL
Positive number, neg-
ative number or 0
The target position in the axis coordinate sys-
tem for A1 axis ([degree] or [mm], depending
on
KinType
)
AxesPosition [2]
LREAL
Positive number, neg-
ative number or 0
The target position in the axis coordinate sys-
tem for A2 axis ([degree] or [mm], depending
on
KinType
)
AxesPosition [3]
LREAL
Positive number, neg-
ative number or 0
The target position in the axis coordinate sys-
tem for A3 axis ([degree] or [mm], depending
on
KinType
)
AxesPosition [4] to
[5] (Reserved)
LREAL
0
(Reserved)
AxesPosition
Kinematics type
Name
Description
Delta3
Delta3R
Delta2
AxesPosition [0]
The target position in the axis coordi-
nate system for A0 axis ([degree] or
[mm], depending on
KinType
)
Used
Used
Used
AxesPosition [1]
The target position in the axis coordi-
nate system for A1 axis ([degree] or
[mm], depending on
KinType
)
Used
Used
Used
AxesPosition [2]
The target position in the axis coordi-
nate system for A2 axis ([degree] or
[mm], depending on
KinType
)
Used
Used
Not used
AxesPosition [3]
The target position in the axis coordi-
nate system for A3 axis ([degree] or
[mm], depending on
KinType
)
Not used
Used
Not used
AxesPosition [4] to [5]
(Reserved)
(Reserved)
Not used
Not used
Not used
AxesPosition
Kinematics type
Name
Cartesian 3D-Gantry
Cartesian 3D
Cartesian 2D-Gantry
Cartesian 2D
H-Bot
AxesPosition [0]
Used
Used
Used
AxesPosition [1]
Used
Used
Used
AxesPosition [2]
Used
Used
Not used
AxesPosition [3]
Used
Not used
Not used
AxesPosition [4] to [5] (Reserved)
Not used
Not used
Not used
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: ......