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)
2-3 Ro
bo
t F
unc
tion
s
2
2
-3-1
K
inematics Setting
 Setting for Cartesian 2D Gantry
Set the following parameters for Cartesian 2D 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.
Refer to Setting for Cartesian 3D Gantry on page 2-18 to prevent possible problems.
Precautions for Correct Use
• When using Cartesian 2D Gantry Kinematics, you have to configure parameters Err1 and
Err2 . Those default values are 0, but cannot be used.
• Program to stop the robot if MC_GroupMon returns FALSE in Valid output because of actual
position error |A0-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)
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)
A 2
A 0
Machine coordinate
s ystem (MCS)
Xm
Ym
Zm
X
Y
Z
(OffX, OffY, 0)
Position of TCP
when all axes are 0