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3 Setting Robot Functions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
3-4
T
arg
et Posit
ion
and
Directi
on Set
tin
g Met
hod
3
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
Содержание NJ501-4300
Страница 13: ...11 CONTENTS NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 40: ...Revision History 38 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 90: ...2 Features of NJ Robotics CPU Unit 2 40 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 204: ...5 Vision Robot Integrated Simulation 5 6 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 308: ...6 Troubleshooting 6 104 NJ series NJ Robotics CPU Unit User s Manual W539 ...
Страница 333: ...I 1 I NJ series NJ Robotics CPU Unit User s Manual W539 Index ...
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