Omron NJ501-4300, Manual

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2 Features of NJ Robotics CPU Unit
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
2-2 C
o
o
rd
inat
e System
2
2
-2-1
Overview of Coo
rdinate Systems
2-2 Coordinate System
This section describes the coordinate systems used by an NJ Robotics CPU Unit.
This section describes the types of coordinate systems, the directions of axis coordinate systems
(ACS), and the positional relationship between the axis coordinate systems (ACS) and the machine
coordinate system (MCS).
An NJ Robotics CPU Unit uses the following coordinate systems to control the robots.
 Coordinate Systems for Delta3
2-2-1 Overview of Coordinate Systems
Types of Coordinate Systems
Coordinate System Description Reference
Axis coordinate sys-
tem (ACS) The coordinate systems shown with A0, A1
and A2 in the following figure P. 2-14
Machine coordinate
system (MCS) The coordinate system shown with Xm, Ym
and Zm in the following figure P. 2-14
User coordinate sys-
tem (UCS) The coordinate system shown with Xu, Yu
and Zu in the following figure P. 2-14
Tool coordinate sys-
tem (TCS) The coordinate system shown with Xt, Yt
and Zt in the following figure P. 2-14
Zm
Ym
A2
TCP
Xm
Machine coordinate
system (MCS)
Axis coordinate
system (ACS)
Moving frame
User coordinate system (UCS)
A1
A0
Xu
Yu
Zu
Fixed frame