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)
2-3 Ro
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-3-2
W
orksp
ace Check
The workspace check refers to a function that checks the range of motion of the robot TCP.
If the robot TCP is placed outside the workspace, an error occurs and operation of the axes group
stops.
When a robot operation instruction is executed, the check function checks whether the TCP position
meets the following four conditions.
• Target position of robot TCP when starting robot instruction
• Command position of robot TCP each motion cycle when robot instruction is ongoing
• Current command position of robot TCP when starting robot instruction
To use the workspace check, you need to set the workspace check parameters for the axes group.
This section describes the settings of the workspace parameters.
To set an axes group, use the MC_SetKinTransform (Set Kinematics Transformation) instruction.
Refer to MC_SetKinTransform on page 4-6 for details on the MC_SetKinTransform (Set Kinematics
Transformation) instruction.
There are five types of workspaces: Delta3Workspace, Delta2Workspace, Cartesian3DWorkspace,
Cartesian2DWorkspace, and HBotWorkspace.
Select the workspace according to the robot type.
Precautions for Safe Use
Be sure to select a correct combination of KinType (Kinematics Type Selection) and Work-
spaceType (Workspace Type Selection) variables for the MC_SetKinTransform (Set Kinemat-
ics Transformation) instruction.
Check that the workspace check function is performed as intended.
2-3-2 Workspace Check
Types of Workspaces