Omron NJ501-4300, Руководство пользователя

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2 Features of NJ Robotics CPU Unit
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
2-3 Ro
bo
t F
unc
tion
s
2
2
-3-1
K
inematics Setting
2-3 Robot Functions
This section gives information related to the robot functions that include the kinematics, workspace and
coordinate systems.
To operate a robot, you need to set the kinematics type and the transform parameters for the axes
group.
This section describes the settings of the kinematics type and kinematics parameters.
To set an axes group, use the MC_SetKinTransform (Set Kinematics Transformation) instruction.
Refer to MC_SetKinTransform on page 4-6 for details on the MC_SetKinTransform (Set Kinematics
Transformation) instruction.
Select the kinematics type from the following options: Delta3, Delta3R, Delta2, Cartesian 3D, Cartesian
3D Gantry, Cartesian 2D, Cartesian 2D Gantry and H-Bot.
In this section, the settings for each kinematics are described. The restriction on kinematics is also
explained here.
 Setting for Delta3 and Delta3R
Set the following parameters for Delta3 and Delta3R.
2-3-1 Kinematics Setting
Setting Kinematics Type
Setting Kinematics Parameters
Rf
Rm
Lf
Lm
A1
y
x
A2
A0
MCS
+
θ
θ
x
y
+