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3 Setting Robot Functions
3 - 6
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Precautions for Safe Use
Set “0” for Axes which are linked mechanically, when using Delta 3, Delta 3R, Delta 2, Carte-
sian 2D Gantry or Cartesian 3D Gantry robot.
Maximum Deceler-
ation
Set the maximum deceleration rate for an axis
operation command.
*3
Set the value according to the robot
specification.
Accelera-
tion/Deceleration
Over
Select the operation for when the maximum
acceleration/deceleration may be exceeded
after excessive deceleration during the axis
acceleration/deceleration control because stop-
ping at the target position is given priority.
Operation Selec-
tion at Reversing
Specify the operation for reversing rotation for
multi-execution/re-execution of instructions and
interrupt feeding.
Velocity Warning
Value
Set the percentage of the maximum velocity at
which to output a velocity warning for the axis.
Acceleration Warn-
ing Value
Set the percentage of the maximum acceleration
rate at which to output an acceleration warning
for the axis.
Deceleration Warn-
ing Value
Set the percentage of the maximum decelera-
tion rate at which to output a deceleration warn-
ing for the axis.
Positive Torque
Warning Value
Set the torque command value at which to out-
put a positive torque warning for the axis.
Negative Torque
Warning Value
Set the torque command value at which to out-
put a negative torque warning for the axis.
Actual Velocity Fil-
ter Time Constant
Set the time period in milliseconds for calculat-
ing the average travel of the actual velocity.
In-position Range
*4
Set the in-position width.
In-position Check
Time
*4
Set the in-position check time in milliseconds.
Zero Position
Range
Set the home position detection width.
*1. The operation stops immediately if you specify a velocity command value that is greater than the maximum
velocity.
*2. The maximum jog velocity is used as the command velocity if you specify a velocity command value that is
greater than the maximum jog velocity.
*3. When the AxesGroup for the robot is disabled during the robot moving, each Axis in the group starts deceler-
ation-stop with its maximum deceleration independently.
This causes when MC_GroupDisable (Disable Axes Group) instruction is executed, when the operating mode
of the CPU Unit changes to PROGRAM mode, or when MC Test Run is started.
With the default value “0”, the Axis immediately stops without deceleration ramp.
*4. The in-position check is processed by the MC Function Module. The function in the Servo Drive is not used.
Parameter name
Setting
Set value
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 ...
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