Omron NJ501-4300, Руководство пользователя

Страница: 102 / 336

3 Setting Robot Functions
3 - 12 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
The range of command position for rotation around Z axis is limited. It is the same as the range of com-
mand position for the Linear Mode in the Motion Control Function Module.
If a command position exceeds the range, an undefined home error occurs. To avoid the undefined
home error, set the software limit for the axis.
For information on the Linear Mode, refer to the NJ/NX-series CPU Unit Motion Control User's Manual
(Cat. No. W507).
The fact of having a rotation axis (A3) in the Delta-3R robot enables the rotation around the Z coordi-
nate in the Cartesian space. A Cartesian pose of a Delta-3R robot is defined by (X, Y, Z, 0, 0, Rz); posi-
tion (X, Y, Z) and rotation around Z coordinate:
The range of the rotation around Z (Rz) of the robot is angular position within one turn; from − 180.0 ° to
180.0 ° . The lower limit ( − 180 ° ) is not reachable, therefore the kinematics range of rotation around Z
(Rz) is − 180.0 ° < Rz ≤ 180.0 ° .
Direction input specifies the direction followed by the rotational axes when positioning the robot to the
target position.
Direction input is only applicable to the kinematics that provides orientation (Rx, Ry, Rz).
 _mcPositiveDirection
Rotation axis is set to move in the positive direction (counter clockwise) so that the robot achieves
the target position set in the Position input.
 _mcNegativeDirection
Rotation axis is set to move in the negative direction (clockwise) so that the robot achieves the
target position set in the Position input.
Joint Space (ACS)
 Direct Kinematics 
Cartesian Space (MCS)
 Inverse Kinematics 
A0 (
°
) X (mm)
A1 (
°
) Y (mm)
A2 (
°
) Z (mm)
A3 (
°
) Rz (
°
)
Setting Rotation Direction
Set value Setting Methods
Positive direction _mcPositiveDirection
Negative direction _mcNegativeDirection
No direction specified _mcNoDirection
−
180
180
0
−
900
−
720
−
540
−
360
−
180 0 180 360 540 720 900
Position in Axis Coordinate System (ACS) [degree]
Position in Machine Coordinate System (MCS) [degree]