Omron NJ501-4300, Manual

Page: 37 / 336

35
Terminology
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Terminology
Term Description
NJ501-1  The model number NJ501-1300, NJ501-1400 or NJ501-1500.
NJ-series NJ Robotics CPU Unit The model number NJ501-4300, NJ501-4310, NJ501-4320, NJ501-4400 or
NJ501-4500. These models may also be written as "NJ501-4

".
Sysmac Studio Robot Options The optional functions of the Sysmac Studio provided to use NJ501-4  robot
functions.
Robot The mechanism (e.g. Delta and Scalar) that consists of multiple links and axes.
Delta The robots that use parallel link mechanism.
This Controller can control 2-parallel-link type robots and 3-parallel-link type robots.
Some robots have a rotational axis at their wrist.
Delta3 In this manual, a Delta robot with three parallel links is called Delta3.
Delta3R In this manual, a Delta robot with three parallel links and a rotational wrist axis is
called Delta3R.
Delta2 In this manual, a Delta robot with two parallel links is called Delta2.
Cartesian Robot A robot arm with prismatic joints, which allows movement along one or more of the
three axes in the X, Y, Z coordinate system.
Gantry Robot A Cartesian robot which moves along with the gantry system as X-axis. The gantry
system is composed with two linear axes which positioned in parallel.
H-Bot A robot composed of two rotary drives which are connected by a single H-shaped
circumferential timing belt around two parallel linear rails.
T-Bot A variation of H-Bot with a T-shape and one linear rail instead of two.
Kinematics In this manual, the kinematics refers to a set of expressions required for the follow-
ing two transforms.
• Transform from the axis coordinate systems (ACS) of robot links and axes to the
robot-specific Cartesian coordinate system (MCS).
• Transform from the robot-specific Cartesian coordinate system (MCS) to the axis
coordinate systems (ACS) of robot links and axes.
Inverse Kinematics Transform from a position in the robot-specific Cartesian coordinate system (MCS)
to a position in axis coordinate systems (ACS) of robot links and axes.
Direct Kinematics Transform from a position in axis coordinate systems (ACS) of robot links and axes
to a position in the robot-specific Cartesian coordinate system (MCS).
Axis Coordinate System A coordinate system for rotation or linear motion specified for each axis of the
robot.
The abbreviation is ACS.
Machine Coordinate System A Cartesian coordinate system which is specific to the machine (robot).
The abbreviation is MCS.
User Coordinate System A Cartesian coordinate system defined by the user.
The abbreviation is UCS.
Tool Coordinate System A Cartesian coordinate system which has TCP at its origin.
The abbreviation is TCS.
TCS0
(Tool Coordinate System 0) The default TCS. Its origin is TCP0.
TCSi
(Tool Coordinate System i) A TCS currently selected by the robot. The symbol i represents ToolID of the TCS.
The i takes on values from 1 to 16.
TCP (Tool Center Point) The tip of the machine (robot) that performs tasks.
Specify the position of TCP when you perform positioning for the Cartesian coordi-
nate system.
TCP0 (Tool Center Point 0) This is the default TCP.