Omron NJ501-4300, Руководство пользователя

Страница: 174 / 336

4 Robot Instructions
4 - 70 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
The following are the details on Position (Target Position) which you set and AxesPosition (Axes Target
Position) which is the result of transformation.
 Position
Set the target position in the machine coordinate system (MCS).
The target position you can set in Position (Target Position) varies depending on KinType (Kinemat-
ics Type Selection) as shown below.
Details on Position and AxesPosition
Name Data type Valid range Description
Position [0] LREAL Positive number, neg-
ative number or 0 The target position on X axis in the machine
coordinate system [mm]
Position [1] LREAL Positive number, neg-
ative number or 0 The target position on Y axis in the machine
coordinate system [mm]
Position [2] LREAL Positive number, neg-
ative number or 0 The target position on Z axis in the machine
coordinate system [mm]
Position [3] LREAL Greater than − 180.0,
less than or equal to
180.0
The target rotational position around X axis in
the machine coordinate system [degree]
Position [4] LREAL Greater than
−
180.0,
less than or equal to
180.0
The target rotational position around Y axis in
the machine coordinate system [degree]
Position [5] LREAL Greater than − 180.0,
less than or equal to
180.0
The target rotational position around Z axis in
the machine coordinate system [degree]
Position Kinematics type
Name Description Delta3 Delta3R Delta2
Position [0] The target position on X axis [mm] Valid Valid Valid
Position [1] The target position on Y axis [mm] Valid Valid Invalid
Position [2] The target position on Z axis [mm] Valid Valid Valid
Position [3] The target rotational position around
X axis [degree]
Invalid Invalid Invalid
Position [4] The target rotational position around
Y axis [degree]
Invalid Invalid Invalid
Position [5] The target rotational position around
Z axis [degree]
Invalid Valid Invalid
Position Kinematics type
Name
Cartesian 3D
Cartesian 3D-Gantry
Cartesian 2D
Cartesian 2D-Gantry
H-Bot
Plane XY Plane XZ Plane YZ
Position [0] Valid Valid Valid Invalid Valid
Position [1] Valid Valid Invalid Valid Valid
Position [2] Valid Invalid Valid Valid Invalid
Position [3] Invalid Invalid Invalid
Position [4] Invalid Invalid Invalid
Position [5] Invalid Invalid Invalid