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
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2
2
-3-2
W
orksp
ace Check
The space of the robot motion range exists 0.1 mm back from each edge of the workspace set by the
MC_SetKinTransfrom (Set Kinematics Transformation) instruction.
Therefore, the robot target position must be set to positions at least 0.1 mm back from each edge of the
workspace.
If the TCP target position or the TCP actual current position is outside the robot motion range shown
below, an error is detected and the robot stops immediately.
The following figure shows an example of Delta3Workspace.
Robot Motion Range
Symbol Description
(A) The workspace set by the MC_SetKinTransfrom (Set Kinematics Transformation)
instruction
(B) The robot motion range
0.1 mm
(A)
(B)