2 Features of NJ Robotics CPU Unit
2 - 22
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Setting for H-Bot
Set the following parameters for H-Bot.
Restriction on Kinematics
The Delta3, Delta3R and Delta2 kinematics must satisfy all the following conditions for operation
with an NJ Robotics CPU Unit.
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)
Type
Type of H-Bot:
0: H-Bot type 1
1: H-Bot type 2
2: T-Bot type 1
3: T-Bot type 2
Item
Restriction
Maximum length of kinematics parameters Rf must be 2,000.0 [mm] or less and Lm must be 10,000.0 [mm]
or less.
Maximum angle between link 1 and link 2
The angle between link 1 and link 2 must be 0.0 to 180.0
[degree].
Relationship between Rf and Rm length
Rm must be shorter than Rf.
Xm
Ym
Machine coordinate
s
ystem (MCS)
A0
A1
X
Y
(OffX, OffY)
Position of TCP
when all axes are 0
Summary of Contents for NJ501-4300
Page 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Page 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
Page 335: ......