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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-
4-2 R
ot
ational A
xis C
ontrol
_mcNoDirection
Direction of rotation axis is not set. Robot will move the rotation axis so that it achieves the target
position keeping the rotation around Z (Rz) position in the same turn of its kinematics range (ring).
The robot operates in the ring which is the same as that the current position belongs.
Therefore, the robot may take a longer way.
The following is an example of settings which causes a longer way operation.
Item
Set value
Current position
150.0
Target position
−
150.0
Rotation direction
_mcNoDirection
Negative Direction
Positive Direction
−
540
−
360
−
180
0
180
360
540
−
180
180
0
Position in Machine Coordinate
System (MCS) [degree]
Current position
Position in Axis Coordinate System (ACS) [degree]
−
540
−
360
−
180
0
180
360
540
−
180
−
150
180
150
0
Position in Machine Coordinate
System (MCS) [degree]
Position in Axis Coordinate System (ACS) [degree]
Current position
Target position
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 ...
Страница 335: ......