Omron NJ501-4300, Manual

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2 Features of NJ Robotics CPU Unit
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
2-2 C
o
o
rd
inat
e System
2
2
-2-1
Overview of Coo
rdinate Systems
 Coordinate Systems for Cartesian 2D Gantry
The Cartesian 2D Gantry kinematics can be arranged only in XY coordinate plane.
 Coordinate Systems for H-Bot
The H-Bot kinematics has 4 sub types.
Direction of TCP movement depends on direction of the axes A0 and A1, and depends on H-Bot
type.
• H-Bot type 1
A0 movement
direction
A1 movement
direction
X movement
direction
Y movement
direction
Positive Positive Positive No movement
Positive Negative No movement Positive
Negative Positive No movement Negative
Negative Negative Negative No movement
Machine coordinate
system (MCS)
Xm
Ym
Zm
User coordinate
system (UCS)
Xu Yu
Zu
TCP
A2
A0
A1
Xm
Ym
Machine coordinate
system (MCS)
Xu
Yu
User coordinate
system (UCS)
A0
A1
TCP