Omron NJ501-4300, Manual

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2 Features of NJ Robotics CPU Unit
2 - 18 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
 Setting for Cartesian 3D Gantry
Set the following parameters for Cartesian 3D Gantry.
Gantry kinematics is based on the assumption that two linked axes (A0 and A1) are perfectly
aligned and equal. But in the actual robot, there is always a difference in positions between the two
linked axes of the gantry, A0 and A1.
Parameter Description
OffX The distance on X between MCS origin and TCP when all axes are 0 (unit:
mm)
OffY The distance on Y between MCS origin and TCP when all axes are 0 (unit:
mm)
OffZ The distance on Z between MCS origin and TCP when all axes are 0 (unit:
mm)
Err1 The maximum acceptable error of commanded positions between axes A0
and A1 (absolute value) (unit: mm)
Err2 The maximum acceptable error of actual positions between axes A0 and A1
(absolute value) (unit: mm)
Position of TCP
when all axes are 0
(OffX, OffY, OffZ)
Machine coordinate
system (MCS)
X
Y
Z
A0
A2
A1
A3
Xm
Ym
Zm
Y
A0 A1
A2
Y
Error
A0 A1
A2
Gantry kinematics Actual gantry robot
X X