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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
-3-8
Robot T
ool
Some parameters for robot tool definition are invalid depending on the kinematics type.
In such a case, the values set for invalid parameters are ignored.
If you select a robot tool, TCS0 of the selected tool coordinate system (TCS) becomes the base point
for the robot.
In this example, the robot tool is defined as follows, and the selected robot tool ID1 moves to the target
position P2.
Robot Tool Definition
The unit for X, Y, Z is mm, and the unit for Rx, Ry, Rz is degree.
Coordinate Position on MCS
The current position P0 of TCP0 is set as follows.
The following is the current position of TCP1.
The target position P2 is set as follows.
Kinematics type
Meaning
Delta3
Delta3R
Delta2
Target position on X axis: Tx [mm]
Valid
Valid
Valid
Target position on Y axis: Ty [mm]
Valid
Valid
Invalid
Target position on Z axis: Tz [mm]
Valid
Valid
Valid
Target rotational position around X axis: Rx [degree]
Invalid
Invalid
Invalid
Target rotational position around Y axis: Ry [degree]
Invalid
Invalid
Invalid
Target rotational position around Z axis: Rz [degree]
Invalid
Valid
Invalid
Example of Robot Tool Operation
x
TCS0
y
TCS0
z
TCS0
x
TCS0
y
TCS0
z
TCS0
z
TCS0
x
TCS0
y
TCS0
α
α
β
β
γ
γ
+
−
−
−
+
+
Rotation around X axis (Rx)
Rotation around Y axis (Ry)
Rotation around Z axis (Rz)
TCP1
20.0
(
0.0 5.0
–
0.0 0.0 0.0
)
,
,
,
,
,
=
P0
0.0
(
20.0
–
750.0
–
0.0 0.0 0.0
)
,
,
,
,
,
=
P1
20.0
(
20.0
–
755.0
–
0.0 0.0 0.0
)
,
,
,
,
,
=
P2
70.0
(
0.0 750.0
–
0.0 0.0 30.0
)
,
,
,
,
,
=
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: ......