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1 Overview of NJ Robotics CPU Unit
1 - 8
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
1-3
Specifications of Unit
This section gives the performance specifications and function specifications of an NJ Robotics CPU
Unit.
The following robot functions are added to the MC Function Module for NJ Robotics CPU Units with
model numbers NJ501-1
.
The following table shows the function specifications of an NJ Robotics CPU Unit.
1-3-1
Performance Specifications
Item
Overview
Coordinate System
The two types of systems, the machine coordinate system (MCS) and user coordi-
nate system (UCS), are provided for robot operation.
Robot Parameter Settings
Sets the robot parameters including the kinematics type and link length.
Workspace Check
Checks whether the robot operates within the range of motion (workspace).
User Coordinate System
You can set the user coordinate systems for each robot.
Robot Tool
You can set multiple robot tools for each robot.
Monitoring
Reads the current position and current velocity of the robot.
Time-specified Absolute
Positioning
Moves the robot to a set position in a set time period.
Conveyor Synchronization
Makes the robot to track the workpiece on the conveyor.
Inverse Kinematics
Transforms the coordinates (X, Y, Z, Rx, Ry, Rz) of the robot to the axis coordi-
nates.
Robot Jogging
Jogs the robot.
Transition
You can select the method to make a smooth transition trajectory between robot
operation instructions.
Robot Velocity and Accel-
eration check
Checks robot maximum velocity and acceleration (pre-check and online check).
Synchronized Offset func-
tionality
You can set offsets during conveyor synchronization.
1-3-2
Function Specifications
Item
Specification
NJ501-4500
NJ501-4400
NJ501-4300
NJ501-4320
NJ501-4310
Applicable robots
Delta3, Delta3R, Delta2, Cartesian 3D, Cartesian 3D Gantry, Cartesian 2D,
Cartesian 2D Gantry and H-Bot
*7
Controllable Servo Drives
OMRON G5-series Servo Drives with built-in EtherCAT communications
*1
Controllable encoder input ter-
minals
OMRON GX-series EtherCAT Remote I/O Terminals
GX-EC0211/-EC0241
*2
OMRON NX-series Incremental Encoder Units
NX-EC0122/-EC0222/-EC0142
*3
OMRON NX-series SSI Input Units
NX-ECS112/-ECS212
*3
Control method
Control commands using EtherCAT communications
Control modes
Position control (Cyclic Synchronous Position Control Mode)
Velocity control (Cyclic Synchronous Velocity Control Mode)
Torque control (Cyclic Synchronous Torque Control Mode)
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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