Omron NJ501-4300, Manual

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2 Features of NJ Robotics CPU Unit
2 - 32 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
This function transforms a robot TCP position in the machine coordinate system (MCS) to a position in
the axis coordinate system (ACS) of each robot axis.
When you want to move the robot along a desired trajectory, use this function together with the
MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchronous Absolute Positioning) instruction.
For the inverse kinematics, use the MC_InverseKin (Inverse Kinematics) instruction.
Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for details on
the MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchronous Absolute Positioning) instruction,
and
MC_InverseKin on page 4-68 for the MC_InverseKin (Inverse Kinematics) instruction.
You can define/select robot tools for a robot for which the kinematics is already set.
Use the MC_DefineToolTransform (Define Tool Coordinate) instruction to make axes group settings.
Refer to MC_DefineToolTransform on page 4-19 for details on the MC_DefineToolTransform (Define
Tool Coordinate) instruction.
You can define up to 16 robot tools with IDs 1 to 16 for each robot.
Together with the default TCP, the total number of robot tools is 17.
TCPi denotes a TCP with ID i . You can select TCPi after you define a robot tool.
To define a robot tool, use the coordinates (Tx, Ty, Tz, Rx, Ry, Rz) with the reference point TCS0 of the
tool coordinate system (TCS).
The coordinates (Tx, Ty, Tz) represent a relative position of TCPi to TCP0.
2-3-7 Inverse Kinematics
2-3-8 Robot Tool
Robot Tool Definition
TCPi
Y
X
X
TCSi
MCS
Z
Y
X
Z
Y
TCP0
TCS0
Z