Omron NJ501-4300, Руководство пользователя

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4 Robot Instructions
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
MC
_SyncL
inearCo
nvey
or
4
F
unct
ion
The function adds an offset to the robot position and orientation when it is synchronized with a con-
veyor.
The offset is defined in a mixed format: Cartesian position for X, Y and Z and joint position for Orienta-
tion part. Offset positions are referenced to its own local coordinate system, attached to the TCP0 of the
robot and aligned with the coordinate system set in the MC_SyncLinearConveyor (MCS or UCS).
Offsets are applied each control cycle to the output of the MC_SyncLinearConveyor. Therefore it is pos-
sible to keep synchronization with conveyor while other movements are performed.
 EnableOffset (Offset Enabled)
The offset functionality is enabled with the EnableOffset (Offset Enabled) input variable. Therefore,
the offset is referenced to the position of the TCP0 in the moment when EnableOffset is set to
TRUE.
When EnableOffset input is changed from TRUE to FALSE the offset is not subtracted. The output is
the same as the last
PositionOffset is kept.
Offset functionality can only be used during Phase 6 of MC_SyncLinearConveyor. If the EnableOff-
set input is set to TRUE in a phase different than 6, error occurs.
Precautions for Correct Use
• You can enable offsets only when TCP is in synchronization with the workpiece. If you enable
offsets when synchronization is not performed, an error will occur.
• If the offset is changed from Disabled to Enabled, TCP may move suddenly depending on
the offset value.
 PositionOffset (Offset Value)
To set the offset value, set the position (X, Y, Z) in the coordinate system in which the workpiece
position is specified, and set the A3 rotational angle in the axis coordinate system (ACS).
The parameters you can set in PositionOffset (Offset Value) vary depending on KinType (Kinematics
Type Selection) as shown below.
The invalid set parameters are ignored.
Setting Offsets
Name Data type Valid range Description
PositionOffset [0] LREAL Positive number, negative number or 0 Offset X coordinate [mm]
PositionOffset [1] LREAL Positive number, negative number or 0 Offset Y coordinate [mm]
PositionOffset [2] LREAL Positive number, negative number or 0 Offset Z coordinate [mm]
PositionOffset [3] LREAL Positive number, negative number or 0 The offset A3 in the axis coordinate
system [degree]
PositionOffset [4]
to [5] (Reserved) LREAL 0 (Reserved)
Name
Kinematics type
Delta3 Delta3R Delta2
PositionOffset [0] Valid Valid Valid
PositionOffset [1] Valid Valid Invalid
PositionOffset [2] Valid Valid Valid
PositionOffset [3] Invalid Valid Invalid
PositionOffset [4] to [5] (Reserved) Invalid Invalid Invalid