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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
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WorkspaceParam
Set the range of the workspace.
The setting values depending on Workspace Type Selection as shown below.
Name
Data type
Delta3 or Delta3R
Valid range
Description
WorkspaceParam[0]
LREAL
Negative number The cylinder top face position: Zu [mm]
WorkspaceParam[1]
LREAL
Positive number
The radius of cylinder: Rcy [mm]
WorkspaceParam[2]
LREAL
Positive number
The height of cylinder: Hcy [mm]
WorkspaceParam[3]
LREAL
Non-negative
number
The radius of truncated cone: Rco [mm]
WorkspaceParam[4]
LREAL
Non-negative
number
The height of truncated cone: Hco [mm]
WorkspaceParam[5] to
[7] (Reserved)
LREAL
0
(Reserved)
Name
Data type
Delta2
Valid range
Description
WorkspaceParam[0]
LREAL
Negative number Type trapezoid top face position: Zu [mm]
WorkspaceParam[1]
LREAL
Positive number
Half the length of the trapezoid top face: Rtop [mm]
WorkspaceParam[2]
LREAL
Non-negative
number
Half the length of the trapezoid bottom face: Rbottom
[mm]
WorkspaceParam[3]
LREAL
Positive number
The hight of trapezoid: H [mm]
WorkspaceParam[4] to
[7] (Reserved)
LREAL
0
(Reserved)
Name
Data type
Cartesian3D
Valid range
Description
WorkspaceParam[0]
LREAL
Full Range
Origin of the workspace: X coordinate: X0 [mm]
WorkspaceParam[1]
LREAL
Full Range
Origin of the workspace: Y coordinate: Y0 [mm]
WorkspaceParam[2]
LREAL
Full Range
Origin of the workspace: Z coordinate: Z0 [mm]
WorkspaceParam[3]
LREAL
Positive number
Workspace dimension on the X direction: DX [mm]
WorkspaceParam[4]
LREAL
Positive number
Workspace dimension on the Y direction: DY [mm]
WorkspaceParam[5]
LREAL
Positive number
Workspace dimension on the Z direction: DZ [mm]
WorkspaceParam[6] to
[7] (Reserved)
LREAL
0
(Reserved)
Name
Data type
Cartesian2D
Valid range
Description
WorkspaceParam[0]
LREAL
Full Range
Origin of the workspace: the first coordinate:
Org1 [mm]
WorkspaceParam[1]
LREAL
Full Range
Origin of the workspace: the second coordinate:
Org2 [mm]
WorkspaceParam[2]
LREAL
Positive number
Workspace dimension on the first coordinate direc-
tion: d1 [mm]
WorkspaceParam[3]
LREAL
Positive number
Workspace dimension on the second coordinate
direction: d2 [mm]
WorkspaceParam[4]
LREAL
[0, 1, 2]
Index to defined planes:
0: plane XY – the first coordinate is X and the second
is Y
1: plane XZ – the first coordinate is X and the second
is Z
2: plane YZ – the first coordinate is Y and the second
is Z
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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