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2 Features of NJ Robotics CPU Unit
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
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bo
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Use
r Coor
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ate System (
UCS)
Use the MC_DefineCoordSystem (Define Coordinate) instruction to set origin positions (Tx, Ty, Tz, Rx,
Ry, Rz) of user coordinate systems (UCS).
This section describes the origin positions you set.
on page 4-15 for details on the MC_DefineCoordSystem (Define
Coordinate) instruction.
First you must set the origin of the user coordinate system (UCS) with the distance (Tx,Ty, Tz) from the
origin of the machine coordinate system (MCS).
Set the rotation Rz around Z axis. The positive direction of rotation Rz is a clockwise direction from Xu
axis to Yu axis when Z axis positive direction is viewed from the origin.
Set the rotation Ry around Yu1 axis. Yu1 is an axis of the user coordinate system Xu1-Yu1-Zu1 created
by the rotation Rz. The positive direction of rotation Ry is a clockwise direction from Zu1 axis to Xu1
axis when Yu1 axis positive direction is viewed from the origin.
Set the rotation Rx around Xu2 axis. Xu2 is an axis of the user coordinate system Xu2-Yu2-Zu2 created
by the rotation Ry. The positive direction of rotation Rx is a clockwise direction from Yu2 axis to Zu2
axis when Xu2 axis positive direction is viewed from the origin.
2-3-3
User Coordinate System (UCS)
Position Setting (Tx, Ty, Tz)
Coordinate axis
Coordinate System
Xm-Ym-Zm
Machine coordinate system (MCS)
Xu-Yu-Zu
User coordinate system (UCS)
Rotation Setting (Rx, Ry, Rz)
Zu
Yu
Xu
Zm
Ym
Xm
(Tx, Ty, Tz)
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: ......