A - 17
Appendices
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
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4 3D Machine Models
Fixed frame: Radius (Rf)
LREAL
Set the distance between the center of the fixed frame and the axis
motor. (Unit: mm)
Link 1: Length (Lf)
LREAL
Set the length of link 1. (Unit: mm)
Link 2: Length (Lm)
LREAL
Set the length of link 2. (Unit: mm)
Arm: Thickness
LREAL
Set the thickness of arm 1/2/3, and the size of base rotary axis 1/2/3
and intermediate rotary axis 1/2/3.
The size of the joint changes according to the zoom factor.
Moving frame: Radius
(Rm)
LREAL
Set the distance between the center of moving frame and the joint of
link 2. (Unit: mm)
Axes Group: Correspond-
ing variable
_sGROUP_R
EF
The axes group that composes a Delta3 robot. Setting a variable
automatically sets the corresponding variables for the axis coordi-
nate systems (A0, A1, A2, and A3) within the axes group.
Axis Coordinate System
for Axis A0: Correspond-
ing variable
_sAXIS_REF The corresponding variable for arm 1.
Axis Coordinate System
for Axis A1: Correspond-
ing variable
_sAXIS_REF The corresponding variable for arm 2.
Axis Coordinate System
for Axis A2: Correspond-
ing variable
_sAXIS_REF The corresponding variable for arm 3.
Axis Coordinate System
for Axis A3: Correspond-
ing variable
_sAXIS_REF The corresponding variable for the rotary axis attached to the end
effector .
Axis Coordinate System
for Axis A3: Rotation
direction
---
You can select
CW
or
CCW
.
Axis Coordinate System
for Axis A0: Initial angle
LREAL
The angle of arm 1 in its initial state.
Axis Coordinate System
for Axis A1: Initial angle
LREAL
The angle of arm 2 in its initial state.
Axis Coordinate System
for Axis A2: Initial angle
LREAL
The angle of arm 3 in its initial state.
Origin position for rotation
around Z axis of machine
coordinate system: Theta
[deg]
LREAL
The parameter to rotate the machine coordinate system around the
Z axis.
You can set this to between
0°
and
360°
.
Workspace: Show
---
Select whether to show or hide the workspace.
Workspace: Transpar-
ency [%]
USINT
Set the transparency of the workspace polygon to between
0
and
100
(transparent).
Workspace: Front posi-
tion of the cylinder (Zu)
LREAL
Refer to the description of Delta3/Delta3R workspace in
on page 2-15 for details.
Workspace: Radius of the
cylinder (Rcy)
LREAL
Workspace: Height of the
cylinder (Hcy)
LREAL
Workspace: Height of the
cone (Hco)
LREAL
Workspace: Radius of the
cone bottom (Rco)
LREAL
Name
Data type
Description
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 ...
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