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
• T-Bot type 2

Directions of ACS for Delta Robots
This coordinate system is applied to three axes, A0 to A2, of Delta3 and Delta3R, and two axes, A0
and A1, of Delta2.
"0 Degree" refers to an axis position at which the fixed frame and link 1 form a straight line. The
direction below the 0 degree line is called Positive Direction, and the direction above the 0 degree
line is called Negative Direction. The settings of axes (Servo Drives) must conform with this axis
coordinate system (ACS).
You must wire so that an axis operates in a downward direction if a positive command velocity is
given, and the axis operates in an upward direction if a negative command velocity is given.
A0 movement
direction
A1 movement
direction
X movement
direction
Y movement
direction
Positive Positive Negative No movement
Positive Negative No movement Negative
Negative Positive No movement Positive
Negative Negative Positive No movement
A0 movement
direction
A1 movement
direction
X movement
direction
Y movement
direction
Positive Positive Positive No movement
Positive Negative No movement Negative
Negative Positive No movement Positive
Negative Negative Negative No movement
Directions of Axis Coordinate System (ACS)
Xm
Ym
Machine coordinate
system (MCS)
Xu
Yu
User coordinate
system (UCS)
A0
A1
TCP