Omron NJ501-4300, Руководство пользователя

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3 Setting Robot Functions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
3-4
T
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Directi
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3-
4-1 Position Set
tings
3-4 Target Position and Direction Setting
Method
This section describes how to set the positions for different types of robots and how to control the rota-
tional axis of Delta3R.
The target position values set with the Position (Target Position [X, Y, Z, Rx, Ry, Rz]) input variables
vary depending on the selected robot type.
The rotational axis control is determined with the rotation (angle) around Z axis and the rotation direction.
This control is enabled only when you select a Delta3R robot.
The setting range of the rotation around Z axis is
−
180.0
<
θ
≤
180.0.
The following figure shows the relationship with the positions in the axis coordinate system (ACS).
3-4-1 Position Settings
Position Kinematics type
Name Meaning Delta3 Delta3R Delta2
Position [0] Target position on X axis [mm] Used Used Used
Position [1] Target position on Y axis [mm] Used Used Not used
Position [2] Target position on Z axis [mm] Used Used Used
Position [3] Target rotational position around X axis [degree] Not used Not used Not used
Position [4] Target rotational position around Y axis [degree] Not used Not used Not used
Position [5] Target rotational position around Z axis [degree] Not used Used Not used
Position Kinematics type
Name
Cartesian 3D
Cartesian 3D-Gantry
Cartesian 2D Cartesian 2D-Gantry
H-Bot
Plane XY Plane XZ Plane YZ
Position [0] Used Used Used Not used Used
Position [1] Used Used Not used Used Used
Position [2] Used Not used Used Used Not used
Position [3] Not used Not used Not used
Position [4] Not used Not used Not used
Position [5] Not used Not used Not used
3-4-2 Rotational Axis Control
Setting Rotation around Z Axis