Omron NJ501-4300, Руководство пользователя

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1 Overview of NJ Robotics CPU Unit
1 - 8 NJ-series NJ Robotics CPU Unit User’s Manual (W539)
1-3 Specifications of Unit
This section gives the performance specifications and function specifications of an NJ Robotics CPU
Unit.
The following robot functions are added to the MC Function Module for NJ Robotics CPU Units with
model numbers NJ501-1

.
The following table shows the function specifications of an NJ Robotics CPU Unit.
1-3-1 Performance Specifications
Item Overview
Coordinate System The two types of systems, the machine coordinate system (MCS) and user coordi-
nate system (UCS), are provided for robot operation.
Robot Parameter Settings Sets the robot parameters including the kinematics type and link length.
Workspace Check Checks whether the robot operates within the range of motion (workspace).
User Coordinate System You can set the user coordinate systems for each robot.
Robot Tool You can set multiple robot tools for each robot.
Monitoring Reads the current position and current velocity of the robot.
Time-specified Absolute
Positioning Moves the robot to a set position in a set time period.
Conveyor Synchronization Makes the robot to track the workpiece on the conveyor.
Inverse Kinematics Transforms the coordinates (X, Y, Z, Rx, Ry, Rz) of the robot to the axis coordi-
nates.
Robot Jogging Jogs the robot.
Transition You can select the method to make a smooth transition trajectory between robot
operation instructions.
Robot Velocity and Accel-
eration check Checks robot maximum velocity and acceleration (pre-check and online check).
Synchronized Offset func-
tionality You can set offsets during conveyor synchronization.
1-3-2 Function Specifications
Item
Specification
NJ501-4500 NJ501-4400 NJ501-4300 NJ501-4320 NJ501-4310
Applicable robots Delta3, Delta3R, Delta2, Cartesian 3D, Cartesian 3D Gantry, Cartesian 2D,
Cartesian 2D Gantry and H-Bot
*7
Controllable Servo Drives
OMRON G5-series Servo Drives with built-in EtherCAT communications
*1
Controllable encoder input ter-
minals OMRON GX-series EtherCAT Remote I/O Terminals
GX-EC0211/-EC0241
*2
OMRON NX-series Incremental Encoder Units
NX-EC0122/-EC0222/-EC0142
*3
OMRON NX-series SSI Input Units
NX-ECS112/-ECS212
*3
Control method Control commands using EtherCAT communications
Control modes Position control (Cyclic Synchronous Position Control Mode)
Velocity control (Cyclic Synchronous Velocity Control Mode)
Torque control (Cyclic Synchronous Torque Control Mode)