Omron NJ501-4300, Руководство пользователя

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Appendices
A - 14 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
This model represents a conveyor for placing with equally spaced border lines. It allows you to view
how robots place workpieces in the predetermined range.
 Components of this 3D Machine Model
The 3D machine model for a Conveyor for placing (with borders) has the components shown in the
figure below.
 Operation of this 3D Machine Model
The border lines displayed on the conveyor are spaced at equal intervals.
These border lines move according to the value of the encoder axis when the trigger variable that
corresponds with the conveyor is turned ON. Each border line disappears when it reaches the end
of the conveyor.
As with the case of the border lines, the workpieces placed on the conveyor move as the encoder
value increases. Each workpiece disappears when it reaches the end of the conveyor.
Tracking area: Length LREAL Set the length of the conveyor area where robots can place
workpieces. You can set this for up to eight robots.
Active robot --- Set the 3D machine model name for each Delta3/Delta3R
robot that uses the conveyor. You can set up to eight robots.
Trigger variable: Corre-
sponding variable BOOL Set the trigger variable that changes to TRUE when a box is
detected. The boxes do not move until this trigger variable
changes to TRUE.
The trigger for the detection sensor is located at the starting
point of the conveyor.
Conveyor for Placing (with Borders)
Name Data type Description
Origin of the conveyor
World coordinates of the 3D
simulation space
(Right-handed coordinate system)
Border line Conveyor
x
y z