Omron NJ501-4300, Manual

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2 Features of NJ Robotics CPU Unit
2 - 34 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Precautions for Correct Use
Robot tools are set in relation with a machine coordinate system (MCS).
If you re-execute the MC_SetKinTransform (Set Kinematics Transformation) instruction for a
robot, you must re-define all robot tools for the robot.
Use the MC_DefineToolTransform (Define Tool Coordinate) instruction to define robot tools.
This function performs jogging in a specified direction.
Jogging is performed in the specified coordinate system.
You can select machine coordinate system (MCS), user coordinate system (UCS), or tool coordinate
system (TCS).
Use the MC_RobotJog (Axes Group Jog) instruction to execute jogging.
Refer to MC_RobotJog on page 4-73 for details on the MC_RobotJog (Axes Group Jog) instruction.
During jogging (rotation) of a rotational axis (Rx, Ry, Rz), the position of the selected tool is maintained.
The following figure shows an example of jogging executed for Rz axis of the active TCP.
2-3-9 Robot Jogging
Rotational Axis Jogging
y
TCS0
y
TCS1
z
TCS0
z
TCS1 TCS1
x
TCS0 TCS0
x
TCS1 TCS1
z
TCS1
x
TCS1
x
y
z
MCS
P0 TCP0
TCP1
P1
y
TCS0
y
TCS1
z
TCS0
z
TCS1 TCS1
x
TCS0
x
TCS1 TCS1
z
TCS1
x
TCS1
Transition Transition Transition
x
TCS0
P2
TCP1 TCP1 TCP1
TCP0
R
Z2
P0 X
0
Y
0
Z
0
R
x
0
R
y
0
R
z
0
) , , , , , ( =
P1 X
1
(
Y
1
Z
1
R
x
1
R
y
1
R
z
1
)
, , , , , =
P2 X
2
(
Y
2
Z
2
R
x
2
R
y
2
R
z
2
)
, , , , , =
y
TCS0
y
TCS1
y
TCS2
x
TCS0
x
TCS1 TCS1
x
TCS1
x
TCS2
R
z+
R
z-
Robot TCP
Active TCP