Omron NJ501-4300, Manual

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2 Features of NJ Robotics CPU Unit
2 - 14 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Precautions for Correct Use
The positional relationship between axes, and the directions of their coordinate systems are
fixed and cannot be changed.
This section describes the axis coordinate system (ACS), the machine coordinate system (MCS), the
user coordinate system (UCS), and the tool coordinate system (TCS).
The axis coordinate system (ACS) is a rotation or linear motion coordinate system specified for each
axis.
This system is also called the Joint Coordinate System or the Link Coordinate System.
Each axis has one coordinate system.
The machine coordinate system (MCS) is a Cartesian coordinate system specified for each robot.
Use the position of the robot TCP viewed from the origin of the machine coordinate system to set the
target position for robot operation.
Each robot (one axes group) has one machine coordinate system.
The user coordinate system is a Cartesian coordinate system defined by the user.
Use the rotation and the position relative to the origin of the machine coordinate system to set the origin
position (Tx, Ty, Tz, Rx, Ry, Rz) of the user coordinate systems. The rotation is also called Pose.
You can set up to 16 user coordinate systems for each robot.
The tool coordinate system is a Cartesian coordinate system set by the user according to the tool to be
used.
The reference position of the tool coordinate system is the position of the tool TCP. You can set up to 16
tool coordinate systems for each robot, and select from the total of 17 systems that include the default
tool coordinate system.
2-2-2 Coordinate Systems
Axis Coordinate System (ACS)
Machine Coordinate System (MCS)
User Coordinate System (UCS)
Tool Coordinate System (TCS)