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2 Features of NJ Robotics CPU Unit
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
2-2 C
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o
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inat
e System
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Overview of Coo
rdinate Systems
Directions of ACS for H-Bots and T-Bots
In these robots, positive direction of each axis is counter-clockwise in plane XY.
The following figure is an example of H-Bot type 1.
The following figure shows the directions of the axis coordinate system (ACS) of each axis (A0 to A2
and A3) and the directions of the machine coordinate system (MCS).
The figure shows the fixed frame of a Delta3 robot viewed from Zm direction.
Precautions for Safe Use
Set a correct relationship between the direction of commands given by the Controller and the
motor rotation direction of the Servo Drive.
Otherwise, the robot may operate unexpectedly.
Positional Relationship between Axis Coordinate System (ACS) and
Machine Coordinate System (MCS)
Xm
Ym
A0
A1
A0 positive
A1 positive
Machine coordinate
system (MCS)
Xm
Ym
A1
A2
A0
A3(-)
A3(+)
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: ......